1 Documentation and download available at https://www.FreeRTOS.org/
3 Changes between FreeRTOS V10.6.0 and FreeRTOS 10.6.1 released August 17, 2023
5 + Add runtime parameter checks to functions in mpu_wrappers_v2.c file.
6 The same checks are already performed in API implementations using
8 We thank the following people for their inputs in these changes:
9 - Lan Luo, Zixia Liu of School of Computer Science and Technology,
10 Anhui University of Technology, China.
11 - Xinwen Fu of Department of Computer Science, University of
12 Massachusetts Lowell, USA.
13 - Xinhui Shao, Yumeng Wei, Huaiyu Yan, Zhen Ling of School of
14 Computer Science and Engineering, Southeast University, China.
16 Changes between FreeRTOS V10.5.1 and FreeRTOS 10.6.0 released July 13, 2023
18 + Add a new MPU wrapper that places additional restrictions on unprivileged
19 tasks. The following is the list of changes introduced with the new MPU
22 1. Opaque and indirectly verifiable integers for kernel object handles:
23 All the kernel object handles (for example, queue handles) are now
24 opaque integers. Previously object handles were raw pointers.
25 2. Save the task context in Task Control Block (TCB): When a task is
26 swapped out by the scheduler, the task's context is now saved in its
27 TCB. Previously the task's context was saved on its stack.
28 3. Execute system calls on a separate privileged only stack: FreeRTOS
29 system calls, which execute with elevated privilege, now use a
30 separate privileged only stack. Previously system calls used the
31 calling task's stack. The application writer can control the size of
32 the system call stack using new configSYSTEM_CALL_STACK_SIZE config
34 4. Memory bounds checks: FreeRTOS system calls which accept a pointer
35 and de-reference it, now verify that the calling task has required
36 permissions to access the memory location referenced by the pointer.
37 5. System calls restrictions: The following system calls are no longer
38 available to unprivileged tasks:
41 - xQueueCreateMutexStatic
42 - xQueueCreateCountingSemaphore
43 - xQueueCreateCountingSemaphoreStatic
45 - xQueueGenericCreateStatic
56 - xTaskCallApplicationTaskHook
58 - vTaskGetRunTimeStats
61 - xEventGroupCreateStatic
63 - xStreamBufferGenericCreate
64 - xStreamBufferGenericCreateStatic
67 Also, an unprivileged task can no longer use vTaskSuspend to suspend
68 any task other than itself.
70 We thank the following people for their inputs in these enhancements:
71 - David Reiss of Meta Platforms, Inc.
72 - Lan Luo, Xinhui Shao, Yumeng Wei, Zixia Liu, Huaiyu Yan and Zhen Ling
73 of School of Computer Science and Engineering, Southeast University,
75 - Xinwen Fu of Department of Computer Science, University of
76 Massachusetts Lowell, USA.
77 - Yuequi Chen, Zicheng Wang, Minghao Lin of University of Colorado
79 + Add Cortex-M35P port. Contributed by @urutva.
80 + Add embedded extension (RV32E) support to the IAR RISC-V port.
81 + Add ulTaskGetRunTimeCounter and ulTaskGetRunTimePercent APIs. Contributed by
83 + Add APIs to get the application supplied buffers from statically
84 created kernel objects. The following new APIs are added:
85 - xTaskGetStaticBuffers
86 - xQueueGetStaticBuffers
87 - xQueueGenericGetStaticBuffers
88 - xSemaphoreGetStaticBuffer
89 - xEventGroupGetStaticBuffer
90 - xStreamBufferGetStaticBuffers
91 - xMessageBufferGetStaticBuffers
92 These APIs enable the application writer to obtain static buffers from
93 the kernel object and free/reuse them at the time of deletion. Earlier
94 the application writer had to maintain the association of static buffers
95 and the kernel object in the application. Contributed by @Dazza0.
96 + Add Thread Local Storage (TLS) support using picolibc function. Contributed
98 + Add configTICK_TYPE_WIDTH_IN_BITS to configure TickType_t data type. As a result,
99 the number of bits in an event group also increases with big data type. Contributed
101 + Update eTaskGetState and uxTaskGetSystemState to return eReady for pending ready
102 tasks. Contributed by @Dazza0.
103 + Update heap_4 and heap_5 to add padding only if the resulting block is not
105 + Fix the scheduler logic in a couple of places to not preempt a task when an
106 equal priority task becomes ready.
107 + Add macros used in FreeRTOS-Plus libraries. Contributed by @Holden.
108 + Fix clang compiler warnings. Contributed by @phelter.
109 + Add assertions to ARMv8-M ports to detect when FreeRTOS APIs are called from
110 interrupts with priority higher than the configMAX_SYSCALL_INTERRUPT_PRIORITY.
111 Contributed by @urutva.
112 + Add xPortIsInsideInterrupt API to ARM_CM0 ports.
113 + Fix build warning in MSP430X port when large data model is used.
114 + Add the ability to use Cortex-R5 port on the parts without FPU.
115 + Fix build warning in heap implementations on PIC24/dsPIC.
116 + Update interrupt priority asserts for Cortex-M ports so that these do not fire
117 on QEMU which does not implement PRIO bits.
118 + Update ARMv7-M ports to ensure that kernel interrupts run at the lowest priority.
119 configKERNEL_INTERRUPT_PRIORITY is now obsolete for ARMv7-M ports and brings
120 these ports inline with the newer ARMv8-M ports. Contributed by @chrisnc.
121 + Fix build issue in POSIX GCC port on Windows Subsystem for Linux (WSL). Contributed
123 + Add portMEMORY_BARRIER to Microblaze port. Contributed by @bbain.
124 + Add portPOINTER_SIZE_TYPE definition for ATmega port. Contributed by @jputcu.
125 + Multiple improvements in the CMake support. Contributed by @phelte and @cookpate.
127 Changes between FreeRTOS V10.5.0 and FreeRTOS V10.5.1 released November 16 2022
128 + Updated the kernel version in manifest and SBOM
130 Changes between FreeRTOS V10.4.6 and FreeRTOS V10.5.0 released September 16 2022
132 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that
133 already independently gained the ability to execute injected code to
134 read from or write to arbitrary addresses by passing a negative argument
135 as the xIndex parameter to pvTaskGetThreadLocalStoragePointer() or
136 vTaskSetThreadLocalStoragePointer respectively. A check has been added to
137 ensure that passing a negative argument as the xIndex parameter does not
138 cause arbitrary read or write.
139 We thank Certibit Consulting, LLC for reporting this issue.
140 + ARMv7-M and ARMv8-M MPU ports: It was possible for an unprivileged task
141 to invoke any function with privilege by passing it as a parameter to
142 MPU_xTaskCreate, MPU_xTaskCreateStatic, MPU_xTimerCreate,
143 MPU_xTimerCreateStatic, or MPU_xTimerPendFunctionCall. MPU_xTaskCreate
144 and MPU_xTaskCreateStatic have been updated to only allow creation of
145 unprivileged tasks. MPU_xTimerCreate, MPU_xTimerCreateStatic and
146 MPU_xTimerPendFunctionCall APIs have been removed.
147 We thank Huazhong University of Science and Technology for reporting
149 + ARMv7-M and ARMv8-M MPU ports: It was possible for a third party that
150 already independently gained the ability to execute injected code to
151 achieve further privilege escalation by branching directly inside a
152 FreeRTOS MPU API wrapper function with a manually crafted stack frame.
153 The local stack variable `xRunningPrivileged` has been removed so that
154 a manually crafted stack frame cannot be used for privilege escalation
155 by branching directly inside a FreeRTOS MPU API wrapper.
156 We thank Certibit Consulting, LLC, Huazhong University of Science and
157 Technology and the SecLab team at Northeastern University for reporting
159 + ARMv7-M MPU ports: It was possible to configure overlapping memory
160 protection unit (MPU) regions such that an unprivileged task could access
161 privileged data. The kernel now uses highest numbered MPU regions for
162 kernel protections to prevent such MPU configurations.
163 We thank the SecLab team at Northeastern University for reporting this
165 + Add support for ARM Cortex-M55.
166 + Add support for ARM Cortex-M85. Contributed by @gbrtth.
167 + Add vectored mode interrupt support to the RISC-V port.
168 + Add support for RV32E extension (Embedded Profile) in RISC-V GCC port.
169 Contributed by @Limoto.
171 - Add a check to heap_2 to track if a memory block is allocated to
172 the application or not. The MSB of the size field is used for this
173 purpose. The same check already exists in heap_4 and heap_5. This
174 check prevents double free errors.
175 - Add a new flag configHEAP_CLEAR_MEMORY_ON_FREE to heap_2, heap_4
176 and heap_5. If the flag is set in FreeRTOSConfig.h then memory freed using
177 vPortFree() is automatically cleared to zero.
178 - Add a new API pvPortCalloc to heap_2, heap_4 and heap_5 which has the same
179 signature as the standard library calloc function.
180 - Update the pointer types to portPOINTER_SIZE_TYPE. Contributed by
182 + Add the ability to override send and receive completed callbacks for each
183 instance of a stream buffer or message buffer. Earlier there could be
184 one send and one receive callback for all instances of stream and message
185 buffers. Having separate callbacks per instance allows different message
186 and stream buffers to be used differently - for example, some for inter core
187 communication and others for same core communication.
188 The feature can be controlled by setting the configuration option
189 configUSE_SB_COMPLETED_CALLBACK in FreeRTOSConfig.h. When the option is set to 1,
190 APIs xStreamBufferCreateWithCallback() or xStreamBufferCreateStaticWithCallback()
191 (and likewise APIs for message buffer) can be used to create a stream buffer
192 or message buffer instance with application provided callback overrides. When
193 the option is set to 0, then the default callbacks as defined by
194 sbSEND_COMPLETED() and sbRECEIVE_COMPLETED() macros are invoked. To maintain
195 backwards compatibility, configUSE_SB_COMPLETED_CALLBACK defaults to 0. The
196 functionality is currently not supported for MPU enabled ports.
197 + Generalize the FreeRTOS's Thread Local Storage (TLS) support so that it
198 is not tied to newlib and can be used with other c-runtime libraries also.
199 The default behavior for newlib support is kept same for backward
201 + Add support to build and link FreeRTOS using CMake build system. Contributed
203 + Add support to generate Software Bill of Materials (SBOM) for every release.
204 + Add support for 16 MPU regions to the GCC Cortex-M33 ports.
205 + Add ARM Cortex-M7 r0p0/r0p1 Errata 837070 workaround to ARM CM4 MPU ports.
206 The application writer needs to define configENABLE_ERRATA_837070_WORKAROUND
207 when using CM4 MPU ports on a Cortex-M7 r0p0/r0p1 core.
208 + Add configSYSTICK_CLOCK_HZ to Cortex-M0 ports. This is needed to support
209 the case when the SysTick timer is not clocked from the same source as the CPU.
210 + Add hardware stack protection support to MicroBlazeV9 port. This ensures that
211 the CPU immediately raises Stack Protection Violation exception as soon as any
212 task violates its stack limits. Contributed by @uecasm.
213 + Introduce the configUSE_MINI_LIST_ITEM configuration option. When this
214 option is set to 1, ListItem_t and MiniLitItem_t remain separate types.
215 However, when configUSE_MINI_LIST_ITEM == 0, MiniLitItem_t and ListItem_t
216 are both typedefs of the same struct xLIST_ITEM. This addresses some issues
217 observed when strict-aliasing and link time optimization are enabled.
218 To maintain backwards compatibility, configUSE_MINI_LIST_ITEM defaults to 1.
219 + Simplify prvInitialiseNewTask to memset newly allocated TCB structures
220 to zero, and remove code that set individual structure members to zero.
221 + Add prototype for prvPortYieldFromISR to the POSIX port so that it builds
222 without any warning with -Wmissing-prototypes compiler option.
223 + Add top of stack and end of stack to the task info report obtained using
224 vTaskGetInfo(). Contributed by @shreyasbharath.
225 + Add a cap to the cRxLock and cTxLock members of the queue data structure.
226 These locks count the number items received and sent to the queue while
227 the queue was locked. These are later used to unblock tasks waiting on
228 the queue when the queue is unlocked. This PR caps the values of the
229 cRxLock and cTxLock to the number of tasks in the system because we cannot
230 unblock more tasks than there are in the system. Note that the same assert
231 could still be triggered is the application creates more than 127 tasks.
232 + Changed uxAutoReload parameter in timer functions to xAutoReload. The
233 type is now BaseType_t. This matches the type of pdTRUE and pdFALSE.
234 The new function xTimerGetAutoReload() provides the auto-reload state as
235 a BaseType_t. The legacy function uxTimerGetAutoReload is retained with the
236 original UBaseType_t return value.
237 + Fix support for user implementations of tickless idle that call
238 vTaskStepTick() with xExpectedIdleTime ticks to step. The new code
239 ensures xTickCount reaches xNextTaskUnblockTime inside xTaskIncrementTick()
240 instead of inside vTaskStepTick(). This fixes the typical case where a task
241 wakes up one tick late and a rare case assertion failure when xTickCount\
242 rolls over. Contributed by @jefftenney.
243 + Fix deadlock in event groups when pvPortMalloc and vPortFree functions
244 are protected with a mutex. Contributed by @clemenskresser.
245 + Fix a warning in tasks.c when compiled with -Wduplicated-branches
246 GCC option. Contributed by @pierrenoel-bouteville-act.
247 + Fix compilation error in tasks.c when configSUPPORT_DYNAMIC_ALLOCATION
248 is set to zero. Contributed by @rdpoor.
249 + Fix prvWriteMessageToBuffer() function in stream_buffer.c so that it correctly
250 copies length on big endian platforms too.
251 + Remove the need for INCLUDE_vTaskSuspend to be set to 1
252 when configUSE_TICKLESS_IDLE is enabled. Contributed by @pramithkv.
253 + Update the RL78 IAR port to the latest version of IAR which uses the
254 industry standard ELF format as opposed to earlier UBROF object format.
255 Contributed by @felipe-iar.
256 + Add tick type is atomic flag when tick count is 16-bit to PIC24 port. This
257 allows the PIC24 family of 16 bit processors to read the tick count without
258 a critical section when the tick count is also 16 bits.
259 + Fix offset-out-of-range errors for GCC CM3/CM4 mpu ports when
260 Link Time Optimization is enabled. Contributed by @niniemann.
261 + Remove #error when RISC-V port is compiled on a 64-bit RISC-V platform.
262 Contributed by @cmdrf.
263 + Fix ullPortInterruptNesting alignment in Cortex-A53 port so that it is
264 8-byte aligned. This fixes the unaligned access exception. Contributed
266 + Fix Interrupt Handler Register Function and Exception Process in NiosII
267 Port. Contributed by @ghost.
268 + Change FreeRTOS IRQ Handler for Cortex-A53 SRE port to store and restore
269 interrupt acknowledge register. This ensures that the SRE port behavior
270 matches the Memory Mapped IO port. Contributed by @sviaunxp.
271 + Update the uncrustify config file to match the version of the uncrustify
272 used in the CI Action. Also, pin the version of uncrustify in CI. Contributed
275 Changes between FreeRTOS V10.4.5 and FreeRTOS V10.4.6 released November 12 2021
277 + ARMv7-M and ARMv8-M MPU ports – prevent non-kernel code from calling the
278 internal functions xPortRaisePrivilege and vPortResetPrivilege by changing
280 + Introduce a new config configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS which
281 enables developers to prevent critical sections from unprivileged tasks.
282 It defaults to 1 for backward compatibility. Application should set it to
283 0 to disable critical sections from unprivileged tasks.
285 Changes between FreeRTOS V10.4.4 and FreeRTOS V10.4.5 released September 10 2021
287 See https://www.FreeRTOS.org/FreeRTOS-V10.4.5.html
289 + Introduce configRUN_TIME_COUNTER_TYPE which enables developers to define
290 the type used to hold run time statistic counters. Defaults to uint32_t
291 for backward compatibility. #define configRUN_TIME_COUNTER_TYPE to a type
292 (for example, uint64_t) in FreeRTOSConfig.h to override the default.
293 + Introduce ulTaskGetIdleRunTimePercent() to complement the pre-existing
294 ulTaskGetIdleRunTimeCounter(). Whereas the pre-existing function returns
295 the raw run time counter value, the new function returns the percentage of
296 the entire run time consumed by the idle task. Note the amount of idle
297 time is only a good measure of the slack time in a system if there are no
298 other tasks executing at the idle priority, tickless idle is not used, and
299 configIDLE_SHOULD_YIELD is set to 0.
300 + ARMv8-M secure-side port: Tasks that call secure functions from the
301 non-secure side of an ARMv8-M MCU (ARM Cortex-M23 and Cortex-M33) have two
302 contexts - one on the non-secure side and one on the secure-side. Previous
303 versions of the FreeRTOS ARMv8-M secure-side ports allocated the structures
304 that reference secure-side contexts at run time. Now the structures are
305 allocated statically at compile time. The change necessitates the
306 introduction of the secureconfigMAX_SECURE_CONTEXTS configuration constant,
307 which sets the number of statically allocated secure contexts.
308 secureconfigMAX_SECURE_CONTEXTS defaults to 8 if left undefined.
309 Applications that only use FreeRTOS code on the non-secure side, such as
310 those running third-party code on the secure side, are not affected by
313 Changes between FreeRTOS V10.4.3 and FreeRTOS V10.4.4 released May 28 2021
314 + Minor performance improvements to xTaskIncrementTick() achieved by providing
315 macro versions of uxListRemove() and vListInsertEnd().
316 + Minor refactor of timers.c that obsoletes the need for the
317 tmrCOMMAND_START_DONT_TRACE macro and removes the need for timers.c to
318 post to its own event queue. A consequence of this change is that auto-
319 reload timers that miss their intended next execution time will execute
320 again immediately rather than executing again the next time the command
321 queue is processed. (thanks Jeff Tenney).
322 + Fix a race condition in the message buffer implementation. The
323 underlying cause was that length and data bytes are written and read as
324 two distinct operations, which both modify the size of the buffer. If a
325 context switch occurs after adding or removing the length bytes, but
326 before adding or removing the data bytes, then another task may observe
327 the message buffer in an invalid state.
328 + The xTaskCreate() and xTaskCreateStatic() functions accept a task priority
329 as an input parameter. The priority has always been silently capped to
330 (configMAX_PRIORITIES - 1) should it be set to a value above that priority.
331 Now values above that priority will also trigger a configASSERT() failure.
332 + Replace configASSERT( pcQueueName ) in vQueueAddToRegistry with a NULL
334 + Introduce the configSTACK_ALLOCATION_FROM_SEPARATE_HEAP configuration
335 constant that enables the stack allocated to tasks to come from a heap other
336 than the heap used by other memory allocations. This enables stacks to be
337 placed within special regions, such as fast tightly coupled memory.
338 + If there is an attempt to add the same queue or semaphore handle to the
339 queue registry more than once then prior versions would create two separate
340 entries. Now if this is done the first entry is overwritten rather than
342 + Update the ESP32 port and TF-M (Trusted Firmware M)code to the latest from
343 their respective repositories.
344 + Correct a build error in the POSIX port.
345 + Additional minor formatting updates, including replacing tabs with spaces
347 + Other minor updates include adding additional configASSERT() checks and
348 correcting and improving code comments.
349 + Go look at the smp branch to see the progress towards the Symetric
350 Multiprocessing Kernel. https://github.com/FreeRTOS/FreeRTOS-Kernel/tree/smp
352 Changes between FreeRTOS V10.4.2 and FreeRTOS V10.4.3 released December 14 2020
354 V10.4.3 is included in the 202012.00 LTS release. Learn more at https:/freertos.org/lts-libraries.html
356 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
358 + Changes to improve robustness and consistency for buffer allocation in
359 the heap, queue and stream buffer.
360 + The following functions can no longer be called from unprivileged code.
361 - xTaskCreateRestricted
362 - xTaskCreateRestrictedStatic
363 - vTaskAllocateMPURegions
366 Changes between FreeRTOS V10.4.1 and FreeRTOS V10.4.2 released November 10 2020
368 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
370 + Fix an issue in the ARMv8-M ports that caused BASEPRI to be masked
371 between the first task starting to execute and that task making
373 + Introduced xTaskDelayUntil(), which is functionally equivalent to
374 vTaskDelayUntil(), with the addition of returning a value to
375 indicating whether or not the function placed the calling task into
376 the Blocked state or not.
377 + Update WolfSSL to 4.5.0 and add the FIPS ready demo.
378 + Add support for ESP IDF 4.2 to ThirdParty Xtensa port.
379 + Re-introduce uxTopUsedPriority to support OpenOCD debugging.
380 + Convert most dependent libraries in FreeRTOS/FreeRTOS to submodules.
381 + Various general maintenance and improvements to MISRA compliance.
384 Changes between FreeRTOS V10.4.0 and FreeRTOS V10.4.1 released September 17 2020
386 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
388 + Fixed an incorrectly named parameter that prevented the
389 ulTaskNotifyTakeIndexed macro compiling, and the name space clash in the
390 test code that prevented this error causing test failures.
393 Changes between FreeRTOS V10.3.1 and FreeRTOS V10.4.0 released September 10 2020
395 See https://www.FreeRTOS.org/FreeRTOS-V10.4.x.html
399 + Task notifications: Prior to FreeRTOS V10.4.0 each created task had a
400 single direct to task notification. From FreeRTOS V10.4.0 each task has
401 an array of notifications. The direct to task notification API has been
402 extended with API functions postfixed with "Indexed" to enable the API to
403 operate on a task notification at any array index. See
404 https://www.freertos.org/RTOS-task-notifications.html for more information.
405 + Kernel ports that support memory protection units (MPUs): The ARMv7-M and
406 ARMv8-M MPU ports now support a privilege access only heap. The ARMv7-M
407 MPU ports now support devices that have 16 MPU regions, have the ability
408 to override default memory attributes for privileged code and data
409 regions, and have the ability to place the FreeRTOS kernel code outside of
410 the Flash memory. The ARMv8-M MPU ports now support tickless idle mode.
411 See https://www.freertos.org/FreeRTOS-MPU-memory-protection-unit.html
412 for more information.
414 Additional noteworthy updates:
416 + Code formatting is now automated to facilitate the increase in
417 collaborative development in Git. The auto-formated code is not identical
418 to the original formatting conventions. Most notably spaces are now used
420 + The prototypes for callback functions (those that start with "Application",
421 such as vApplicationStackOverflowHook()) are now in the FreeRTOS header
422 files, removing the need for application writers to add prototypes into
423 the C files in which they define the functions.
424 + New Renesas RXv3 port layer.
425 + Updates to the Synopsys ARC code, including support for EM and HS cores,
427 + Added new POSIX port layer that allows FreeRTOS to run on Linux hosts in
428 the same way the Windows port layer enables FreeRTOS to run on Windows
430 + Many other minor optimisations and enhancements. For full details
431 see https://github.com/FreeRTOS/FreeRTOS-Kernel/commits/main
434 Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020
436 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html
438 + ./FreeRTOS-Labs directory was removed from this file. The libraries it
439 contained are now available as a separate download.
441 Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020
443 See https://www.FreeRTOS.org/FreeRTOS-V10.3.x.html
445 New and updated kernel ports:
447 + Added RISC-V port for the IAR compiler.
448 + Update the Windows simulator port to use a synchronous object to prevent
449 a user reported error whereby a task continues to run for a short time
450 after being moved to the Blocked state. Note we were not able to
451 replicate the reported issue and it likely depends on your CPU model.
452 + Correct alignment of stack top in RISC-V port when
453 configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes
454 the interrupt stack to be statically allocated.
455 + The RISC-V machine timer compare register can now be for any HART, whereas
456 previously it was always assumed FreeRTOS was running on HART 0.
457 + Update the sequence used to update the 64-bit machine timer
458 compare register on 32-bit cores to match that suggested in RISC-V
460 + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler
462 + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to
463 match that of the ARMv8-M ports whereby privilege escalations can only
464 originate from within the kernel's own memory segment. Added
465 configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant.
466 + Update existing MPU ports to correctly disable the MPU before it is
468 + Added contributed port and demo application for a T-Head (formally C-SKY)
473 + Added the vPortGetHeapStats() API function which returns information on
474 the heap_4 and heap_5 state.
475 + Added xTaskCatchUpTicks(), which corrects the tick count value after the
476 application code has held interrupts disabled for an extended period.
477 + Added xTaskNotifyValueClear() API function.
478 + Added uxTimerGetReloadMode() API function.
480 Other miscellaneous changes:
481 + Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it
482 has the same type as variables with which it is compared to, and therefore
483 also renamed the variable xPendingTicks.
484 + Update Keil projects that use the MPU so memory regions come from linker
485 script (scatter file) variables instead of being hard coded.
486 + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR
488 + Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo.
489 + Added LPC54018 MPU demo.
490 + Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter().
493 Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019:
495 + Added ARM Cortex-M23 port layer to complement the pre-existing ARM
496 Cortex-M33 port layer.
497 + The RISC-V port now automatically switches between 32-bit and 64-bit
499 + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering
500 when GCC link time optimisation is used.
501 + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and
502 prevent the secure side builds from removing symbols required by the
503 non secure side build.
504 + Introduced the portARCH_NAME to provide additional data to select semi-
505 automated build environments.
506 + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before
507 updating the MPU registers.
509 + Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo.
510 + Added LPC55S69 ARM Cortex-M33 demo.
511 + Added an STM32 dual core AMP stress test demo.
514 Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019:
516 + Added GCC RISC-V MCU port with three separate demo applications.
517 + Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports
518 with Keil simulator demo.
519 + Update the method used to detect if a timer is active. Previously the
520 timer was deemed to be inactive if it was not referenced from a list.
521 However, when a timer is updated it is temporarily removed from, then
522 re-added to a list, so now the timer's active status is stored separately.
523 + Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and
524 xTaskGetApplicationTaskTagFromISR() API functions.
525 + Updated third party Xtensa port so it is MIT licensed.
526 + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas
527 compiler RX600v2 port to enable switching between platform.h and
528 iodefine.h includes within that port's port.c file.
529 + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged
531 + Added uxTaskGetStackHighWaterMark2() function to enable the return type to
532 be changed without breaking backward compatibility.
533 uxTaskGetStackHighWaterMark() returns a UBaseType_t as always,
534 uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the
535 user to determine the return type.
536 + Fixed issues in memory protected ports related to different combinations
537 of static memory only and dynamic memory only builds. As a result the
538 definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more
539 complex and was moved to FreeRTOS.h with a table explaining its definition.
540 + Added a 'get task tag from ISR' function.
541 + Change the method used to determine if a timer is active or not from just
542 seeing if it is referenced from the active timer list to storing its
543 active state explicitly. The change prevents the timer reporting that it
544 is inactive while it is being moved from one list to another.
545 + The pcName parameter passed into the task create functions can be NULL,
546 previously a name had to be provided.
547 + When using tickless idle, prvResetNextTaskUnblockTime() is now only called
548 in xTaskRemoveFromEventList() if the scheduler is not suspended.
549 + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for
550 FreeRTOS ports that run on architectures that have stack limit registers.
553 Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018
555 + Reverted a few structure name changes that broke several kernel aware
557 + Updated to the latest trace recorder code.
558 + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code.
559 + Reverted moving some variables from file to function scope as doing so
560 broke debug scenarios that require the static qualifier to be removed.
562 Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018
564 FreeRTOS Kernel Changes:
566 + Update lint checked MISRA compliance to use the latest MISRA standard, was
567 previously using the original MISRA standard.
568 + Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be
569 unique types instead of void pointers, improving type safety. (this was
570 attempted some years back but had to be backed out due to bugs in some
571 debuggers). Note this required the pvContainer member of a ListItem_t
572 struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if
573 this causes an issue.
574 + Added configUSE_POSIX_ERRNO to enable per task POSIX style errno
575 functionality in a more user friendly way - previously the generic thread
576 local storage feature was used for this purpose.
577 + Added Xtensa port and demo application for the XCC compiler.
578 + Changed the implementation of vPortEndScheduler() for the Win32 port to
579 simply call exit( 0 ).
580 + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect
581 the read modify write access to an internal Microblaze register.
582 + Fix minor niggles when the MPU is used with regards to prototype
583 differences, static struct size differences, etc.
584 + The usStackHighWaterMark member of the TaskStatus_t structure now has type
585 configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been
586 made when the configSTACK_DEPTH_TYPE type (which gets around the previous
587 16-bit limit on stack size specifications) was introduced.
588 + Added the xMessageBufferNextLengthBytes() API function and likewise stream
590 + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes
591 used to hold the length of a message in the message buffer to be reduced.
592 configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example,
593 messages can never be more than 255 bytes it could be set to uint8_t,
594 saving 3 bytes each time a message is written into the message buffer
595 (assuming sizeof( size_t ) is 4).
596 + Updated the StaticTimer_t structure to ensure it matches the size of the
597 Timer_t structure when the size of TaskFunction_t does not equal the size
599 + Update various Xilinx demos to use 2018.1 version of the SDK tools.
600 + Various updates to demo tasks to maintain test coverage.
601 + FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by
602 FreeRTOS+TCP, which was brought into the main download in FreeRTOS
603 V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and
604 FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP.
606 FreeRTOS+TCP Changes:
608 + Multiple security improvements and fixes in packet parsing routines, DNS
609 caching, and TCP sequence number and ID generation.
610 + Disable NBNS and LLMNR by default.
611 + Add TCP hang protection by default.
613 We thank Ori Karliner of Zimperium zLabs Team for reporting these issues.
616 Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017
618 + Fix position of "#if defined( __cplusplus )" in stream_buffer.h.
619 + Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in
621 + Correct formatting in vTaskList() helper function when it prints the state
622 of the currently executing task.
623 + Introduce #error if stream_buffer.c is built without
624 configUSE_TASK_NOTIFICATIONS set to 1.
625 + Update FreeRTOS+TCP to V2.0.0
626 - Improve the formatting of text that displays the available netword
627 interfaces when FreeRTOS+TCP is used on Windows with WinPCap.
628 - Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user
629 definable callback to execute when data arrives on a socket.
631 Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0:
633 The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license
635 New Features and components:
637 + Stream Buffers - see https://www.FreeRTOS.org/RTOS-stream-buffer-example.html
638 + Message Buffers - see https://www.FreeRTOS.org//RTOS-message-buffer-example.html
639 + Move FreeRTOS+TCP into the main repository, along with the basic Win32
640 TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator.
644 + Added demo for TI SimpleLink CC3220 MCU.
645 + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx
647 + Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation
650 Fixes or enhancements:
652 + Cortex-M ports push additional register prior to calling
653 vTaskSwitchContext to ensure 8-byte alignment is maintained. Only
654 important if a user defined tick hook function performs an operation that
655 requires 8-byte alignment.
656 + Optimisations to the implementation of the standard tickless idle mode on
658 + Improvements to the Win32 port including using higher priority threads.
659 + Ensure interrupt stack alignment on PIC32 ports.
660 + Updated GCC TriCore port to build with later compiler versions.
661 + Update mpu_wrappers.c to support static allocation.
662 + The uxNumberOfItems member of List_t is now volatile - solving an issue
663 when the IAR compiler was used with maximum optimization.
664 + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start
665 address is saved into each task's TCB (assuming stack grows down).
666 + Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined
667 functionality, and user defined initialisation, to be added to FreeRTOS's
668 tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is
669 set to 1 a user provided header file called freertos_task_c_additions.h
670 will be included at the bottom of tasks.c. Functions defined in that
671 header file can call freertos_tasks_c_additions_init(), which in turn
672 calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined.
673 FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h.
674 + Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be
675 defined by a user in FreeRTOSConfig.h. The macro is called before
676 assessing whether to enter tickless idle mode or not. If the macro sets
677 x to zero then tickless idle mode will not be entered. This allows users
678 to abort tickless idle mode entry before the tickless idle function is
679 even called - previously it was only possible to abort from within the
680 tickless idle function itself.
681 + Added configPRINTF(), which can be defined by users to allow all libraries
682 to use the same print formatter.
683 + Introduced configMAX() and configMIN() macros which default to standard
684 max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the
685 application writer defines the same macros in FreeRTOSConfig.h.
686 + Corrected the definition of StaticTask_t in the case where
687 INCLUDE_xTaskAbortDelay is set to 1.
688 + Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of
689 which can be defined to strings in FreeRTOSConfig.h to change the default
690 names of the timer service and idle tasks respectively.
691 + Only fill the stack of a newly created task with a known value if stack
692 checking, or high water mark checking/viewing, is in use - removing the
693 dependency on memset() in other cases.
694 + Introduced xTaskCreateRestrictedStatic() so static allocation can be used
696 + Ensure suspended tasks cannot be unsuspended by a received task
698 + Fix race condition in vTaskSetTimeOutState().
699 + Updated trace recorder files to the latest version.
701 Changes since FreeRTOS V9.0.0:
703 + Priority dis-inheritance behaviour has been enhanced in the case where a
704 task that attempted to take a mutex that was held by a lower priority task
705 timed out before it was able to obtain the mutex (causing the task that
706 holds the mutex to have its priority raised, then lowered again, in
707 accordance with the priority inheritance protocol).
708 + Split the overloaded xQueueGenericReceive() function into three separate
710 + Allow the default human readable text names given to the Idle and Timer
711 tasks to be overridden by defining the configIDLE_TASK_NAME and
712 configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h.
713 + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a
714 value of than than 0 when the system boots. This can be useful for
715 testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also
716 be used to test frequent tick overflows.
717 + Ensure the Cortex-M SysTick count is cleared to zero before starting the
719 + Add configASSERT() into ARM Cortex-M ports to check the number of priority
721 + Clear the 'control' register before starting ARM Cortex-M4F ports in case
722 the FPU is used before the scheduler is started. This just saves a few
723 bytes on the main stack as it prevents space being left for a later save
725 + Added xSemaphoreGetMutexHolderFromISR().
726 + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports.
727 + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used
728 to specify the stack size when using xTaskCreate(). For historic reasons,
729 when FreeRTOS was only used on small MCUs, the type was set to uint16_t,
730 but that can be too restrictive when FreeRTOS is used on larger
731 processors. configSTACK_DEPTH_TYPE defaults to uint16_t.
732 xTaskCreateStatic(), being a newer function, used a uint32_t.
733 + Increase the priority of the Windows threads used by the Win32 port. As
734 all the threads run on the same core, and the threads run with very high
735 priority, there is a risk that the host will become unresponsive, so also
736 prevent the Windows port executing on single core hosts.
738 Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016:
740 See https://www.FreeRTOS.org/FreeRTOS-V9.html
744 + The prototype of the new xTaskCreateStatic() API function was modified to
745 remove a parameter and improve compatibility with other new
746 "CreateStatic()" API functions. The stack size parameter in
747 xTaskCreateStatic() is now uint32_t, which changes the prototype of the
748 callback functions. See the following URL:
749 https://www.FreeRTOS.org/xTaskCreateStatic.html
750 + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT
751 constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is
752 automatically given a floating point (FPU) context.
753 + GCC ARM Cortex-A port: It is now possible to automatically save and
754 restore all floating point (FPU) registers on entry to each potentially
755 nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of
756 vApplicationIRQHandler().
757 + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task
758 entry address placed onto the stack of a task when the task is created for
759 strict compliance with the ARM Cortex-M3/4/7 architecture documentation
760 (no noticeable effect unless using the QMEU emulator).
761 + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only
762 supported on ARM Cortex-M3.
763 + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0
764 API (other than static object creation) and added the
765 FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to
766 demonstrate how to use the updated MPU port.
767 + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the
768 default low power tickless implementation.
769 + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the
770 first task that executes.
771 + Win32 ports: Reduce the amount of stack used and change the way Windows
772 threads are deleted to increase the maximum execution time.
773 + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the
774 documentation page for this port before use.
775 + MPS430X IAR port: Update to be compatible with the latest EW430 tools
777 + IAR32 GCC port: Correct vPortExitCritical() when
778 configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY.
779 + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(),
780 xTaskGetTaskHandle() now has the alias xTaskGetHandle() and
781 pcQueueGetQueueName() now has an alias pcQueueGetName().
782 + Fix various errors in comments and compiler warnings.
784 Demo application updates:
786 + Update Atmel Studio projects to use Atmel Studio 7.
787 + Update Xilinx SDK projects to use the 2016.1 version of the SDK.
788 + Remove dependency on legacy IO libraries from the PIC32 demos.
789 + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution.
790 + Update the MSP432 libraries to the latest version.
791 + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC
793 + Move the Atmel SAMA5D2 demo into the main distribution.
795 Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2)
796 released March 30 2016:
798 NOTE - See https://www.FreeRTOS.org/FreeRTOS-V9.html for details
800 + The functions that create RTOS objects using static memory allocation have
801 been simplified and will not revert to using dynamic allocation if a
802 buffer is passed into a function as NULL.
803 + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to
804 allow a FreeRTOS application to be built without a heap even being being
805 defined. The Win32 example located in the
806 /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as
807 a reference for projects that do not include a FreeRTOS heap.
808 + Minor run-time optimisations.
809 + Two new low power tickless implementations that target Silicon Labs EFM32
811 + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions.
813 Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1)
814 released February 19 2016:
818 + Major new feature - tasks, semaphores, queues, timers and event groups can
819 now be created using statically allocated memory, so without any calls to
821 + Major new features - Added the xTaskAbortDelay() API function which allows
822 one task to force another task to immediately leave the Blocked state,
823 even if the event the blocked task is waiting for has not occurred, or the
824 blocked task's timeout has not expired.
825 + Updates necessary to allow FreeRTOS to run on 64-bit architectures.
826 + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS
827 daemon task (which used to be called the timer service task) starts
828 running. This is useful if the application includes initialisation code
829 that would benefit from executing after the scheduler has been started.
830 + Added the xTaskGetTaskHandle() API function, which obtains a task handle
831 from the task's name. xTaskGetTaskHandle() uses multiple string compare
832 operations, so it is recommended that it is called only once per task.
833 The handle returned by xTaskGetTaskHandle() can then be stored locally for
835 + Added the pcQueueGetQueueName() API function, which obtains the name of
836 a queue from the queue's handle.
837 + Tickless idling (for low power applications) can now also be used when
838 configUSE_PREEMPTION is 0.
839 + If one task deletes another task, then the stack and TCB of the deleted
840 task is now freed immediately. If a task deletes itself, then the stack
841 and TCB of the deleted task are freed by the Idle task as before.
842 + If a task notification is used to unblock a task from an ISR, but the
843 xHigherPriorityTaskWoken parameter is not used, then pend a context switch
844 that will then occur during the next tick interrupt.
845 + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP
846 settings, which previously was only used by heap_4.c.
847 configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare
848 the array that will be used as the FreeRTOS heap, and in-so-doing, place
849 the heap at a specific memory location.
850 + TaskStatus_t structures are used to obtain details of a task.
851 TaskStatus_t now includes the bae address of the task's stack.
852 + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t
853 structure that contains information about a single task. Previously this
854 information could only be obtained for all the tasks at once, as an array
855 of TaskStatus_t structures.
856 + Added the uxSemaphoreGetCount() API function.
857 + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some
858 Cortex-M3 port layers.
860 Demo Application Updates:
862 Further demo applications will be added prior to the final FreeRTOS V9
865 + Updated SAM4L Atmel Studio project to use Atmel Studio 7.
866 + Added ARM Cortex-A53 64-bit port.
867 + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx
869 + Added Cortex-M7 SAME70 GCC demo.
870 + Added EFM32 Giant and Wonder Gecko demos.
873 Changes between V8.2.2 and V8.2.3 released October 16, 2015
877 + Fix bug identified in a modification made in V8.2.2 to the software timer
878 code that allows tickless low power applications to sleep indefinitely
879 when software timers are used.
880 + Simplify and improve efficiency of stack overflow checking.
881 + Add xTaskNotifyStateClear() API function.
882 + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM
883 generic interrupt controller (GIC).
884 + New PIC32MEC14xx port.
885 + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ
887 + Zynq7000 port layer now declares the functions that setup and clear the
888 tick interrupt as weak symbols so they can be overridden by the
889 application, and uses a global XScuGic object so the same object can be
890 used by the application code.
891 + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is
892 currently the only port that uses it.
893 + Updates to RL78 and 78K0 IAR port layers to improve support for
894 combinations of memory models.
895 + Minor updates to heap_5.c to remove compiler warnings generated by some
897 + License simplifications. See /FreeRTOS/License/license.txt in the
898 official distribution.
902 + Update directory names to use WolfSSL instead of CyaSSL, inline with
903 WolfSSL's re-branding.
904 + Update to latest WolfSSL code.
905 + Update to latest FreeRTOS+Trace recorder code.
906 + Add in the FreeRTOS+Trace recorder library required for streaming trace.
908 Demo application changes:
910 + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with
911 floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231.
912 + General tidy up of spelling and compiler warnings.
915 Changes between V8.2.1 and V8.2.2 released August 12, 2015
919 + Added Intel IA32/x86 32-bit port.
920 + General maintenance.
921 + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory
922 protected systems, have been added to the newer event group and software
924 + Add the errno definitions used by FreeRTOS+ components into projdefs.h.
925 + Remove the restriction that prevented tick-less idle implementations
926 waiting indefinitely when software timers were used in the same
928 + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of
929 xTaskNotifyAndQuery().
930 + Add additional NOPs to the MSP430X port layers to ensure strict compliance
931 with the hardware documentation.
932 + Microblaze port: Added option for port optimised task selection.
933 + Microblaze port: Previously tasks inherited the exception enable state
934 at the time the task was created. Now all tasks are created with
935 exceptions enabled if the Microblaze design supports exceptions.
936 + Windows port: Add additional safe guards to ensure the correct start up
937 sequence and thread switching timing.
938 + Windows port: Improve the implementation of the port optimised task
939 selection assembly code.
940 + Update heap_4 and heap_5 to allow use on 64-bit processors.
941 + Simplify the code that creates a queue.
942 + General improved tick-less idle behaviour.
943 + Ensure none of the variables in the common kernel files are initialised to
944 anything other than zero.
945 + Correct calculation of xHeapStructSize in heap_4 and heap_5.
947 Demo application updates:
949 + Added demo project for the new IA32/x86 port that targets the Galileo
951 + Added MSP430FR5969 demos (previously provided as a separate download).
952 + Added FreeRTOS BSP repository for automatic creation of FreeRTOS
953 applications in the Xilinx SDK.
954 + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7)
955 + Update Xilinx SDK projects to use version 2015.2 of the SDK.
956 + Remove Microblaze demos that were using obsolete tools.
957 + Add MSP43FR5969 IAR and CCS demos.
961 + Updated FreeRTOS+Trace recorder library, which requires an update to the
962 FreeRTOS+Trace application.
963 + Added Reliance Edge source code and demo application. Reliance edge is
964 a fail safe transactional file system ideal for applications that require
965 file storage, and especially when high reliability is essential.
966 + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI
967 users to place the output buffer at a fixed memory address.
968 + Improve the NetworkInterface.c file provided for the Windows port of
971 Changes between V8.2.0 and V8.2.1 released 24th March 2015.
975 + Added user definable and flexible thread local storage facility.
976 + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID()
977 function to allow the timer's ID to be used as timer local storage.
978 + Fixed a potential issue related to the use of queue sets from an ISR.
979 + Some updates to the Xilinx Microblaze GCC port.
980 + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio.
981 + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a
982 minor errata work around. All other ARM Cortex-M7 core revisions should
983 use the ARM Cortex-M4F port.
984 + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0.
985 + Change some data types from uint32_t to size_t in preparation for 64-bit
987 + Update the PIC32 port to remove deprecation warnings output by the latest
989 + Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to
990 overwrite items in two queues that are part of the same set.
992 Demo application updates:
994 + Added demo application for TI's ARM Cortex-M4F based MSP432
995 microcontroller using IAR, Keil and CCS compilers.
996 + Added demo application for STM32F ARM Cortex-M7 based microcontroller
998 + Added demo application for Atmel SAMV71 ARM Cortex-M7 based
999 microcontroller using IAR and Keil.
1000 + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and
1001 runs on the KC705 evaluation board (Kintex FPGA).
1003 Changes between V8.1.2 and V8.2.0 released 16th January 2015
1005 Changes between release candidate 1 and the official release are restricted
1006 to maintenance only.
1008 Significant RTOS kernel updates:
1010 + MAJOR NEW FEATURE! Task notifications. Please see the following URL for
1011 details: https://www.FreeRTOS.org/RTOS-task-notifications.html
1012 + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into
1013 a new header file called FreeRTOS/Source/include/deprecated_definitions.h.
1014 This header file must be present to build. Note some of the obsolete
1015 definitions are still used by very old demo application projects.
1017 Other RTOS kernel updates:
1019 + Made xSemaphoreGiveFromISR() a function rather than a macro that calls
1020 xQueueGenericSendFromISR(). This allows for major performance
1021 enhancements at the expense of some additional code size if both functions
1022 are used in the same application. NOTE: In most uses cases such use of
1023 a semaphore can now be replaced with a task notification which is smaller
1025 + The TCB is now always allocated such that the task's stack grows away from
1026 the TCB (improves debugging of stack overflows as the overflow will not
1027 overwrite the task's name).
1028 + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance
1029 enhancements at the cost of a little additional code space).
1030 + Queues are now allocated with a single call to pvPortMalloc() which
1031 allocates both the queue structure and the queue storage area.
1032 + Introduced a new critical section macro for reading the tick count that
1033 defines away to nothing in cases where the width of the tick allows the
1034 tick count to be read atomically (performance benefits - especially when
1035 optimisation is on).
1036 + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the
1037 application writer to provide their own heap array - and in so doing
1038 control the location of the heap.
1039 + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will
1040 include known values in both list and list item structures. The values
1041 are intended to assist debugging. If the values get overwritten then it
1042 is likely application code has written over RAM used by the kernel.
1043 + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of
1044 the interrupt control register to detect taskENTER_CRITICAL() being called
1045 from an interrupt. This has been changed to test all 8 bits.
1046 + Introduced uxTaskPriorityGetFromISR().
1047 + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0
1048 rather than equality to 1, and 2 and 3 are also valid values.
1049 + Cortex-A5 GIC-less port no longer passes the address of the interrupting
1050 peripheral into the interrupt handler.
1051 + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack
1052 belonging to a task when the task was deleted, even when the stack was
1053 allocated statically.
1054 + Utility (helper) functions that format task statistic information into
1055 human readable tables now pad task names with spaces to ensure columns
1056 line up correctly even where task name lengths vary greatly.
1057 + Update FreeRTOS+Trace recorder library to version 2.7.0.
1059 Demo application updates:
1061 + Added two new standard demo task sets: IntSemTest and TaskNotify.
1062 + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU.
1063 + Added demo application for Altera Cyclone V Cortex-A9 MPU.
1064 + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in
1065 demo tasks for new RTOS features.
1066 + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test
1068 + Fixed a corner case issue in Atmel SAM4L low power tickless
1069 implementation, and added button interrupt handling.
1070 + Make the interrupt queue tests more tolerant to heave CPU loads.
1071 + Updated MSVC FreeRTOS simulator demo to include the latest standard test
1073 + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC
1075 + Updated all demos that use FreeRTOS+Trace to work with the latest trace
1079 Changes between V8.1.1 and V8.1.2 released September 2nd 2014
1081 Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the
1082 individual port layers where necessary so it does not affect ports that do
1083 not support the definition.
1085 Changes between V8.1.0 and V8.1.1 released August 29th 2014
1087 By popular requests - a minor patch to V8.1.0 to re-instate the ability to
1088 give a mutex type semaphore (with priority inheritance) from an interrupt
1091 Changes between V8.0.1 and V8.1.0 released August 26th 2014
1093 FreeRTOS scheduler, kernel, demo and test updates:
1095 + Improved the priority inheritance algorithms to assist integration with
1096 off the shelf middleware that may hold multiple mutexes simultaneously.
1097 + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to
1098 span multiple non-contiguous memory regions.
1099 + Updated all Cortex-A9 ports to help trap a couple of common usage errors -
1100 the first being when a task incorrectly attempts to exit its implementing
1101 function and the second being when a non interrupt safe API function is
1102 called from an interrupt.
1103 + Update all Cortex-A9 ports to remove obsolete mode switches prior to
1104 restoring a task context.
1105 + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0.
1106 + Update all Cortex-M3/4F ports to trap a non interrupt safe API function
1107 being called from an interrupt handler.
1108 + Simplify the alignment checks in heap_4.c.
1109 + Update the MSVC Windows simulator demo to use heap_5.c in place of
1110 heap_4.c to ensure end users have an example to refer to.
1111 + Updated standard demo test code to test the new priority inheritance
1113 + Updated the standard demo tasks to make use of stdint and the FreeRTOS
1114 specific typedefs that were introduced in FreeRTOS V8.0.0.
1115 + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive
1116 alternative to pdTICKS_PER_MS - both of which can be used to convert a
1117 time specified in milliseconds to a time specified in RTOS ticks.
1118 + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an
1119 incorrect value being written to the basepri register. This only effects
1120 users of the Tasking compiler.
1121 + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP
1122 example that demonstrates lwIP being used with both its raw and sockets
1124 + Updated the CCS Cortex-R4 port to enable it to be built with the latest
1127 New ports and demo applications:
1129 + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC
1130 compiler and one for the Renesas compiler. Both demos use e2 studio.
1131 + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced.
1132 The new port is demonstrated on an Atmel SAMA5D3 XPlained board.
1134 FreeRTOS+ component updates:
1136 + Update CyaSSL to the latest version.
1137 + Updated the FreeRTOS+ components supplied directly by Real Time Engineers
1138 Ltd. to make use of stdint and the FreeRTOS specific typedefs that were
1139 introduced in FreeRTOS V8.0.0.
1140 + Rework and simplify the FreeRTOS+FAT SL RAM disk driver.
1142 Miscellaneous updates and maintenance:
1144 + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK
1145 hardware in place of the previously targeted Renesas internal (not
1146 publicly available) hardware.
1147 + Various other maintenance tasks.
1150 Changes between V8.0.0 and V8.0.1 released 2nd May 2014
1152 + Minor fixes to the event group functionality that was released in V8.0.0.
1153 The 'clear bits from ISR' functionality is now implemented using a
1154 deferred interrupt callback instead of a function, and the 'wait bits' and
1155 'task sync' functions now correctly clear internal control bits before
1156 returning a value in every possible path through the respective functions.
1157 + Ensure the updating of internal control data is protected by a critical
1158 section after a task is deleted or suspended.
1159 + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file
1160 when the offset was not a multiple of the sector size.
1161 + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values,
1162 even when only the lest significant byte of the register is implemented.
1166 + Updated the XMC4200 IAR project so it links with version 7.x of the IAR
1169 + Add pcTimerGetName() API function.
1170 + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT
1173 Changes between V7.6.0 and V8.0.0 released 19th Feb 2014
1175 https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html
1177 FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x,
1178 although a change to the type used to reference character strings may result
1179 in application code generating a few (easily clearable) compiler warnings
1180 after the upgrade, and an updated typedef naming convention means use of the
1181 old typedef names is now discouraged.
1182 See https://www.FreeRTOS.org/upgrading-to-FreeRTOS-V8.html for full
1185 New features and functionality:
1187 + Event groups - see https://www.FreeRTOS.org/FreeRTOS-Event-Groups.html
1188 + Centralised deferred interrupt processing - see
1189 https://www.FreeRTOS.org/xTimerPendFunctionCallFromISR.html
1193 + Previously, when a task left the Blocked state, a context switch was
1194 performed if the priority of the unblocked task was greater than or equal
1195 to the priority of the Running task. Now a context switch is only
1196 performed if the priority of the unblocked task is greater than the
1197 priority of the Running task.
1198 + New low power tickless demonstration project that targets the ST STM32L
1199 microcontroller - see
1200 https://www.FreeRTOS.org/STM32L-discovery-low-power-tickless-RTOS-demo.html
1201 + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c.
1202 + Small change to the tickless low power implementation on the SAM4L to
1203 ensure the alarm value (compare match value) cannot be set to zero when a
1204 tickless period is exited due to an interrupt originating from a source
1205 other than the RTOS tick.
1206 + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse
1207 resource filters and match the functionality of the MSVC equivalent.
1208 + xTaskIsTaskSuspended() is no longer a public function. Use
1209 eTaskGetState() in its place.
1210 + Improved trace macros, including tracing of heap usage.
1211 + Remove one level of indirection when accepting interrupts on the PIC32MZ.
1212 + Add Cortex-A9 GCC port layer.
1213 + Add Xilinx Zynq demo application.
1216 Changes between V7.5.3 and V7.6.0 released 18th November 2013
1218 V7.6.0 changes some behaviour when the co-operative scheduler is used (when
1219 configUSE_PREEMPTION is set to 0). It is important to note that the
1220 behaviour of the pre-emptive scheduler is unchanged - the following
1221 description only applies when configUSE_PREEMPTION is set to 0:
1223 WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of
1224 cases) a context switch will now only occur when a task places itself into
1225 the Blocked state, or explicitly calls taskYIELD(). This differs from
1226 previous versions, where a context switch would also occur when implicitly
1227 moving a higher priority task out of the Blocked state. For example,
1228 previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by
1229 writing to a queue, then the scheduler would switch to the higher priority
1230 task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by
1231 writing to a queue, task B will not start running until task A enters the
1232 Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not
1233 set to 0, so the normal pre-emptive scheduler is being used, then task B
1234 will start running immediately that it is moved out of the Blocked state].
1238 + Added a port layer and a demo project for the new PIC32MZ architecture.
1239 + Update the PIC32MX port layer to re-introduce some ehb instructions that
1240 were previously removed, add the ability to catch interrupt stack
1241 overflows (previously only task stack overflows were trapped), and also
1242 add the ability to catch an application task incorrectly attempting to
1243 return from its implementing function.
1244 + Make dramatic improvements to the performance of the Win32 simulator port
1246 + Ensure tasks that are blocked indefinitely report their state as Blocked
1247 instead of Suspended.
1248 + Slight improvement to the Cortex-M4F port layers where previously one
1249 register was inadvertently being saved twice.
1250 + Introduce the xSemaphoreCreateBinary() API function to ensure consistency
1251 in the semantics of how each semaphore type is created. It is no longer
1252 recommended to use vSemaphoreCreateBinary() (the version prefixed with a
1253 'v'), although it will remain in the code for backward compatibility.
1254 + Update the Cortex-M0 port layers to allow the scheduler to be started
1255 without using the SVC handler.
1256 + Added a build configuration to the PIC32MX MPLAB X demo project that
1257 targets the PIC32 USB II starter kit. Previously all the build
1258 configurations required the Explorer 16 hardware.
1259 + Some of the standard demo tasks have been updated to ensure they execute
1260 correctly with the updated co-operative scheduling behaviour.
1261 + Added comprehensive demo for the Atmel SAM4E, including use of
1262 FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI.
1266 + Minor maintenance on FreeRTOS+UDP.
1268 Changes between V7.5.2 and V7.5.3 released October 14 2013
1272 + Prior to V7.5.x yields requested from the tick hook would occur in the
1273 same tick interrupt - revert to that original behaviour.
1274 + New API function uxQueueSpacesAvailable().
1275 + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4
1276 and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that
1277 attempt to return from their implementing functions (tasks should call
1278 vTaskDelete( NULL ); if they want to exit).
1279 + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and
1280 portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable.
1281 + Improved behaviour and robustness of the default Cortex-M tickless idle
1283 + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to
1284 all Cortex-M4F ports.
1285 + Add Cortex-M0 port for Keil.
1286 + Updated Cortus port.
1287 + Ensure _impure_ptr is initialised before the scheduler is started.
1288 Previously it was not set until the first context switch.
1292 + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the
1293 FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction
1294 to the test that prevents the network event hook being called on the first
1295 network down event. The FreeRTOS+UDP change history is maintained
1297 + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files
1298 provided in the NXP CMSIS library, then update the interrupts used by the
1299 LPC18xx demos accordingly.
1300 + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help
1301 strings to ensure the strings can be used with the JSON descriptions used
1302 in the FreeRTOS+Nabto demos.
1304 Demo and miscellaneous changes:
1306 + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes
1308 + Added a demo for the Infineon Cortex-M0 that can be built with the IAR
1310 + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools,
1311 with additional build configurations to directly support the XMC4200 and
1312 XMC4400 devices, in addition to the previously supported XMC4500.
1313 + Updated the demo application.
1314 + Added additional trace macros traceMALLOC and traceFREE to track heap
1317 Changes between V7.5.0 and V7.5.2 released July 24 2013
1319 V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function
1320 compatible with the STM32 standard peripheral driver library, and adds
1321 an extra critical section to the default low power tickless mode
1322 implementation. Only users of the STM32 peripheral library or the default
1323 tickless implementation need update from version 7.5.0.
1325 Changes between V7.4.2 and V7.5.0 released July 19 2013
1327 V7.5.0 is a major upgrade that includes multiple scheduling and efficiency
1328 improvements, and some new API functions.
1330 Compatibility information for FreeRTOS users:
1331 FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one
1332 exception; the vTaskList() and vTaskGetRunTimeStats() functions are now
1333 considered legacy, having been replaced by the single uxTaskGetSystemState()
1334 function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in
1335 FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be
1338 Compatibility information for FreeRTOS port writers:
1339 vTaskIncrementTick() is now called xTaskIncrementTick() (because it now
1344 + Multiple scheduling and efficiency improvements.
1345 + Core kernel files now pass PC-Lint V8 static checking without outputting
1346 any warnings (information on the test conditions will follow).
1350 + uxTaskGetSystemState() https://www.FreeRTOS.org/uxTaskGetSystemState.html
1351 + xQueueOverwrite() https://www.FreeRTOS.org/xQueueOverwrite.html
1352 + xQueueOverwriteFromISR()
1353 + xQueuePeekFromISR()
1355 The following ports and demos, which were previously available separately,
1356 are now incorporated into the main FreeRTOS zip file download:
1359 + ARM Cortex-A9 ARM compiler
1361 + Microsemi SmartFusion2
1363 New FreeRTOSConfig.h settings
1364 https://freertos.org/a00110.html
1366 + configUSE_TIME_SLICING
1367 + configUSE_NEWLIB_REENTRANT
1368 + configUSE_STATS_FORMATTING_FUNCTIONS
1369 + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
1373 + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
1374 options provides a mechanism that allows application writers to execute
1375 certain functions in privileged mode even when a task is running in user
1377 + Ports that support interrupt nesting now include a configASSERT() that
1378 will trigger if an interrupt safe FreeRTOS function is called from an
1379 interrupt that has a priority designated as above the maximum system/API
1380 call interrupt priority.
1381 + The included FreeRTOS+Trace recorder code has been updated to the latest
1382 version, and the demo applications that use the trace recorder code have
1383 been updated accordingly.
1384 + The FreeRTOS Windows Simulator (MSVC version only) has been updated to
1385 include a new basic 'blinky' build option in addition to the original
1386 comprehensive build option.
1387 + Improve RAM usage efficiency of heap_4.c and heap_2.c.
1388 + Prevent heap_4.c from attempting to free memory blocks that were not
1389 allocated by heap_4.c, or have already been freed.
1390 + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs
1391 files have been removed from FreeRTOS/Demo/Common.
1392 + Fix build error when R4 port is build in co-operative mode.
1393 + Multiple port and demo application maintenance activities.
1395 Changes between V7.4.1 and V7.4.2 released May 1 2013
1397 NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2
1399 + Added FreeRTOS+FAT SL source code and demo project. The demo project
1400 runs in the FreeRTOS Windows simulator for easy and hardware independent
1401 experimentation and evaluation. See https://www.FreeRTOS.org/fat_sl
1403 Changes between V7.4.0 and V7.4.1 released April 18 2013
1405 + To ensure strict conformance with the spec and ensure compatibility with
1406 future chips data and instruction barrier instructions have been added to
1407 the yield macros of Cortex-M and Cortex-R port layers. For efficiency
1408 the Cortex-M port layer "yield" and "yield" from ISR are now implemented
1409 separately as the barrier instructions are not required in the ISR case.
1410 + Added FreeRTOS+UDP into main download.
1411 + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS
1412 directory with Source and Demo subdirectories.
1413 + Implemented the Berkeley sockets select() function in FreeRTOS+UDP.
1414 + Changed (unsigned) casting in calls to standard library functions with
1416 + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the
1417 tickless (tick suppression) low power FreeRTOS features.
1418 + Add a new RL78 IAR demo that targets numerous new RL78 chips and
1420 + Adjusted stack alignment on RX200 ports to ensure an assert was not
1421 falsely triggered when configASSERT() is defined.
1422 + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest
1424 + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo).
1427 Changes between V7.3.0 and V7.4.0 released February 20 2013
1429 + New feature: Queue sets. See:
1430 https://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html
1431 + Overhauled the default tickless idle mode implementation provided with the
1432 ARM Cortex-M3 port layers.
1433 + Enhanced tickless support in the core kernel code with the introduction of
1434 the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the
1435 eTaskConfirmSleepModeStatus() function.
1436 + Added the QueueSet.c common demo/test file. Several demo applications
1437 have been updated to use the new demo/test tasks.
1438 + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and
1440 + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo.
1441 + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a
1442 pre-processor macro for backward compatibility with the previous name.
1443 + Updated functions implemented in the core queue.c source file to allow
1444 queue.h to be included from the .c file directly (this prevents compiler
1445 warnings that were generated by some compilers).
1446 + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function
1447 with the CLZ compiler intrinsic that is provided by the latest versions of
1448 the CCS ARM compiler.
1449 + Updated all heap_x.c implementations to replace the structure that was
1450 used to ensure the start of the heap was aligned with a more portable
1451 direct C code implementation.
1452 + Added support for PIC24 devices that include EDS.
1453 + Minor optimisations to the PIC32 port layer.
1454 + Minor changes to tasks.c that allow the state viewer plug-ins to display
1455 additional information.
1456 + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an
1457 issue that could occur if the priority of the timer daemon task was set
1458 below the priority of tasks that used timer services.
1459 + Update the FreeRTOS+Trace recorder code to the latest version.
1461 Changes between V7.2.0 and V7.3.0 released October 31 2012
1463 + Added ability to override the default scheduler task selection mechanism
1464 with implementations that make use of architecture specific instructions.
1465 + Added ability to suppress tick interrupts during idle time, and in so
1466 doing, provide the ability to make use of architecture specific low power
1468 + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper
1470 + Added the configSYSTICK_CLOCK_HZ configuration constant.
1471 + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to
1472 directly support basic power saving functionality.
1473 + Added hooks to allow basic power saving to be augmented in the application
1474 by making use of chip specific functionality.
1475 + Minor change to allow mutex type semaphores to be used from interrupts
1476 (which would not be a normal usage model for a mutex).
1477 + Change the behaviour of the interrupt safe interrupt mask save and restore
1478 macros in the Cortex-M ports. The save macro now returns the previous
1479 mask value. The restore macro now uses the previous mask value. These
1480 changes are not necessary for the kernel's own implementation, and are
1481 made purely because the macros were being used by application writers.
1482 + Added eTaskStateGet() API function.
1483 + Added port specific optimisations to the PIC32 port layer, and updated the
1484 PIC32 demo applications to make use of this new feature.
1485 + Added port specific optimisations to the Win32 simulator port.
1486 + Added new ports and demo applications for the TI Hercules RM48 and TMS570
1487 safety microcontrollers.
1488 + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation
1490 + Updated the PIC32 MPLAB X project to manually set the compiler include
1491 paths instead of using the IDE entry box following reports that the
1492 include paths were somehow being deleted.
1493 + Improved character handling in FreeRTOS+CLI.
1495 Changes between V7.1.1 and V7.2.0 released 14 August 2012
1497 FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2.
1499 + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+
1500 source code, and example projects that use the FreeRTOS Win32 simulator.
1501 + Added a new example heap allocation implementation (heap_4.c) that
1502 includes memory block coalescence.
1503 + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller.
1504 The demo is preconfigured to build using the free Atmel Studio 6 IDE and
1506 + Added xSemaphoreTakeFromISR() implementation.
1507 + The last parameter in ISR safe FreeRTOS queue and semaphore functions
1508 (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it
1510 + Update the IAR and MSP430X ports to clear all lower power mode bits before
1511 exiting the tick interrupt [bug fix].
1512 + Allow xQueueReset() to be used, even when the queues event lists are not
1514 + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was
1515 previously missing).
1516 + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to
1517 ensure it compiles with the latest ARM GCC compilers from Linaro.
1518 + Updated the prvReadGP() function in the NIOS II port to ensure the compiler
1519 can choose any register for the functions parameter (required at high
1520 compiler optimisation levels).
1521 + Add #error macros into the Keil and IAR Cortex-M ports to ensure they
1522 cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY
1524 + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and
1525 Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY
1526 parameter must not be set to 0.
1527 + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant
1529 + Added two new list handling macros - for internal use only in upcoming new
1531 + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace
1532 macros. FreeRTOS+Trace supersedes the legacy trace.
1533 + Added a configASSERT() into the vPortFree() function in heap_1.c as it is
1534 invalid for the function to be called.
1535 + Made the xRxLock and xTxLock members of the queue structure volatile.
1536 This is probably not necessary, and is included as a precautionary
1538 + Modify the assert() that checks to see if the priority passed into an
1539 xTaskCreate() function is within valid bounds to permit the assert to be
1540 used in the FreeRTOS MPU port.
1541 + The software timer service (daemon) task is now created in a way that
1542 to ensure compatibility with FreeRTOS MPU.
1544 Changes between V7.1.0 and V7.1.1 released May 1 2012
1548 The following ports are brand new:
1551 The following ports have been available as separate downloads for a number
1552 of months, but are now included in the main FreeRTOS download.
1555 + Cortex-M4F GCC (with full floating point support)
1560 The following demos are brand new:
1561 + Renesas RX63N RDK (Renesas compiler)
1563 The following demos have been available as separate downloads for a number
1564 of months, but are now included in the main FreeRTOS download.
1565 + NXP LPC1114 GCC/LPCXpresso
1567 + Infineon XMC4500 GCC/Atollic
1568 + Infineon XMC4500 IAR
1569 + Infineon XMC4500 Keil
1570 + Infineon XMC4500 Tasking
1573 Kernel miscellaneous / maintenance:
1575 + Introduced the portSETUP_TCB() macro to remove the requirement for the
1576 Windows simulator to use the traceTASK_CREATE() macro, leaving the trace
1577 macro available for use by FreeRTOS+Trace (https://www.FreeRTOS.org/trace).
1578 + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future
1579 FreeRTOS+Trace versions to provide even more information to users.
1580 + Updated the FreeRTOS MPU port to be correct for changes that were
1581 introduced in FreeRTOS V7.1.0.
1582 + Introduced the xQueueReset() API function.
1583 + Introduced the xSemaphoreGetMutexHolder() API function.
1584 + Tidy up various port implementations to add the static key word where
1585 appropriate, and remove obsolete code.
1586 + Slight change to the initial stack frame given to the RX600 ports to allow
1587 them to be used in the Eclipse based E2Studio IDE without confusing GDB.
1588 + Correct the alignment given to the initial stack of Cortex-M4F tasks.
1589 + Added a NOP following each DINT instruction on MSP430 devices for strict
1590 conformance with the instructions on using DINT.
1591 + Changed the implementation of thread deletes in the Win32 port to prevent
1592 the port making use of the traceTASK_DELETE() trace macros - leaving this
1593 macro free for use by FreeRTOS+Trace.
1594 + Made some benign changes to the RX600 Renesas compiler port layer to
1595 ensure the code can be built to a library without essential code being
1596 removed by the linker.
1597 + Reverted the change in the name of the uxTaskNumber variable made in
1598 V7.1.0 as it broke the IAR plug-in.
1601 Demo miscellaneous / maintenance:
1603 + The command interpreter has now been formally released as FreeRTOS+CLI,
1604 and been moved out of the main FreeRTOS download, to instead be available
1605 from the FreeRTOS+ Ecosystem site https://www.FreeRTOS.org/plus.
1606 + flash_timer.c/h has been added to the list of standard demo tasks. This
1607 performs the same functionality as the flash.c tasks, but using software
1608 timers in place of tasks.
1609 + Upgraded the PIC32 demo as follows: Changes to how the library functions
1610 are called necessitated by the new compiler version, addition of MPLAB X
1611 project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations,
1612 addition of simply blinky demo, updated FreeRTOSConfig.h to include more
1613 parameters, addition of hook function stubs.
1614 + The MSP430X IAR and CCS demos have been updated to ensure the power
1615 settings are correct for the configured CPU frequency.
1616 + Rowley CrossWorks projects have been updated to correct the "multiple
1617 definition of ..." warnings introduced when the toolchain was updated.
1618 + Updated various FreeRTOSConfig.h header files associated with projects
1619 that build with Eclipse to include a #error statement informing the user
1620 that the CreateProjectDirectoryStructure.bat batch file needs to be
1621 executed before the projects can be opened.
1622 + Renamed directories that included "CCS4" in their name to remove the '4'
1623 and instead just be "CCS". This is because the demo was updated and
1624 tested to also work with later Code Composer Studio versions.
1625 + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be
1626 50ms instead of 500ms.
1628 Changes between V7.0.2 and V7.1.0 released December 13 2011
1632 + Cortex-M4F IAR port.
1633 + Cortex-M4F Keil/RVDS port.
1638 + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development
1640 + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on
1641 the IAR STM32F407ZG-SK starter kit.
1642 + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the
1643 TriBoard TC1782 evaluation board.
1644 + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an
1645 RX630 RSK (Renesas Starter Kit).
1647 Miscellaneous / maintenance:
1649 + Removed all calls to printf() from the K60/IAR Kinetis demo so the project
1650 can execute stand alone - without being connected to the debugger.
1651 + Completed the command interpreter framework. Command handlers now receive
1652 the entire command string, giving them direct access to parameters.
1653 Utility functions are provided to check the number of parameters, and
1654 return parameter sub-strings.
1655 + The previously documented fix for the bug in xTaskResumeFromISR() that
1656 effected (only) ports supporting interrupt nesting has now been
1657 incorporated into the main release.
1658 + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow
1659 specific ports to skip the second stack alignment check when a task is
1660 created. This is because the second check is not appropriate for some
1661 ports - including the new TriCore port where the checked pointer does not
1662 actually point to a stack.
1663 + The portCLEAN_UP_TCB() macro has been added to allow port specific clean
1664 up when a task is deleted - again this is required by the TriCore port.
1665 + Various other minor changes to ensure warning free builds on a growing
1666 number of microcontroller and toolchain platforms. This includes a
1667 (benign) correction to the prototype of the
1668 vApplicationStackOverflowHook() definition found in lots of recent demos.
1672 + The legacy trace mechanism has been completely removed - it has been
1673 obsolete for the years since the trace macros were introduced. The
1674 configuration constant configUSE_TRACE_FACILITY is now used to optionally
1675 include additional queue and task information. The additional information
1676 is intended to make the trace mechanism more generic, and allow the trace
1677 output to provide more information. When configUSE_TRACE_FACILITY is set
1679 - the queue structure includes an additional member to hold the queue
1680 type, which can be base, mutex, counting semaphore, binary semaphore
1682 - the queue structure includes an additional member to hold a queue
1683 number. A trace tool can set and query the queue number for its own
1684 purposes. The kernel does not use the queue number itself.
1685 - the TCB structure includes an additional member to hold a task number
1686 number. A trace tool can set and query the task number for its own
1687 purposes. The kernel does not use the task number itself.
1688 + Queues and all types of semaphores are now automatically allocated their
1689 type as they are created.
1690 + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and
1691 traskTASK_PRIORITY_DISINHERIT().
1692 + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that
1693 indicates the type of queue, mutex, or semaphore that failed to be
1695 + The position from which traceCREATE_MUTEX() is called has been moved from
1696 after the call to xQueueGenericSend() [within the same function] to before
1697 the call. This ensures the trace events occur in the correct order.
1698 + The value passed into tracePRIORITY_SET() has been corrected for the case
1699 where vTaskPrioritySet() is called with a null parameter.
1701 Changes between V7.0.1 and V7.0.2 released September 20 2011
1705 + The official FreeRTOS Renesas RX200 port and demo application have been
1706 incorporated into the main FreeRTOS zip file download.
1707 + The official FreeRTOS Renesas RL78 port and demo application have been
1708 incorporated into the main FreeRTOS zip file download.
1709 + The official FreeRTOS Freescale Kinetis K60 tower demo application has
1710 been incorporated into the main FreeRTOS zip file download. This includes
1711 an embedded web server example.
1712 + A new Microblaze V8 port layer has been created to replace the older, now
1713 deprecated, port layer. The V8 port supports V8.x of the Microblaze IP,
1714 including exceptions, caches, and the floating point unit. A new
1715 Microblaze demo has also been added to demonstrate the new Microblaze V8
1716 port layer. The demo application was created using V13.1 of the Xilinx
1717 EDK, and includes a basic embedded web server that uses lwIP V1.4.0.
1718 + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been
1719 incorporated into the main FreeRTOS zip file download. Projects are
1720 provided for both the IAR and Keil toolchains.
1725 + xTaskGetIdleTaskHandle() has been added.
1726 + xTaskGetTimerDaemonTaskHandle() has been added.
1727 + pcTaskGetTaskName() has been added.
1728 + vSemaphoreDelete() macro has been added to make it obvious how to delete
1729 a semaphore. In previous versions vQueueDelete() had to be used.
1730 + vTaskCleanUpResources() has been removed. It has been obsolete for a
1732 + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings
1733 being generated when the size of a pointer does not match the size of
1734 the stack type. This will (has already) be used in new ports, but will
1735 not be retrofitted to existing ports until the existing port itself is
1738 Other updates and news:
1740 + The core files have all been modified to tighten the coding standard even
1741 further. These are style, not functional changes.
1742 + All ARM7 port layers have been slightly modified to prevent erroneous
1743 assert() failures when tasks are created and configASSERT() is defined.
1744 + All ARM IAR projects have been updated to build with the latest V6.2.x
1745 versions of the IAR Embedded Workbench for ARM tools (EWARM). This was
1746 necessary due to a change in the way EWARM uses the CMSIS libraries.
1747 + The PIC32 port layer has been updated in preparation for V2 of the C32
1749 + The old Virtex-4 Microblaze demo has been marked as deprecated. Please
1750 use the brand new Spartan-6 port and demo in its place.
1751 + The bones of a new generic command interpreter is located in
1752 FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in
1753 progress, and not documented. It is however already in use. It will be
1754 documented in full when the projects that are already using it are
1756 + A couple of new standard demos have been included. First, a version of
1757 flop.c called sp_flop.c. This is similar to flop.c, but uses single
1758 precision floats in place of double precision doubles. This allows the
1759 for testing ports to processors that have only single precision floating
1760 point units, and revert to using emulated calculations whenever a double
1761 is used. Second, comtest_strings.c has been included to allow the test
1762 of UART drivers when an entire string is transmitted at once. The
1763 previous comtest.c only used single character transmission and reception.
1764 + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and
1765 used by a couple of new demos.
1767 Changes between V7.0.0 and V7.0.1 released May 13 2011
1769 + Added a Fujitsu FM3 demo application for both the IAR and Keil tool
1771 + Added a SmartFusion demo application for all of the IAR, Keil and
1772 SoftConsole (GCC/Eclipse) tool chains.
1773 + Updated the RX600 port and demo applications to take into account the
1774 different semantics required when using the latest (V1.0.2.0) version of
1775 the Renesas compiler.
1776 + Modified the RX600 Ethernet driver slightly to make it more robust under
1777 heavy load, and updated the uIP handling task to make use of the FreeRTOS
1779 + Slightly changed the PIC32 port layer to move an ehb instruction in line
1780 with the recommendations of the MIPS core manual, and ensure 8 byte stack
1781 alignment is truly always obtained.
1782 + Changed the behaviour when tasks are suspended before the scheduler has
1783 been started. Before, there needed to be at least one task that was not
1784 in the suspended state. This is no longer the case.
1786 Changes between V6.1.1 and V7.0.0 released April 8 2011
1788 FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x
1792 + Introduced a new software timer implementation.
1793 + Introduced a new common demo application file to exercise the new timer
1795 + Updated the Win32/MSVC simulator project to include the new software timer
1796 demo tasks and software timer tick hook test. Much simpler software timer
1797 demonstrations are included in the demo projects for both of the new ports
1798 (MSP430X with CCS4 and STM32 with TrueStudio).
1799 + Various enhancements to the kernel implementation in tasks.c. These are
1800 transparent to users and do not effect the pre-existing API.
1801 + Added calls to configASSERT() within the kernel code. configASSERT() is
1802 functionally equivalent to the standard C assert() macro, but does not
1803 rely on the compiler providing assert.h.
1807 + Updated the MSP430X IAR port and demo project to include support for the
1808 medium memory model.
1809 + Added a demo project for the MSP430X that targets the MSP430X Discovery
1810 board and uses the Code Composer Studio 4 tools. This demo includes use
1811 of the new software timer implementation.
1812 + Added an STM32F100RB demo project that targets the STM32 Discovery Board
1813 and uses the TrueStudio Eclipse based IDE from Atollic.
1814 + Removed some compiler warnings from the PSoC demo application.
1815 + Updated the PIC32 port layer to ensure the
1816 configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter
1817 what its value is (within the valid range set by the microcontroller
1819 + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest
1820 MPLAB compiler versions from Microchip.
1821 + Various cosmetic changes to prepare for a standards compliance statement
1822 that will be published after the software release.
1825 Changes between V6.1.0 and V6.1.1 released January 14 2011
1827 + Added two new Windows simulator ports. One uses the free Microsoft Visual
1828 Studio 2010 express edition, and the other the free MingW/Eclipse
1829 environment. Demo projects are provided for both.
1830 + Added three demo projects for the PSoC 5 (CYAC5588). These are for the
1831 GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE.
1832 + Added a demo for the low power STM32L152 microcontroller using the IAR
1834 + Added a new port for the MSP430X core using the IAR Embedded Workbench.
1835 + Updated all the RX62N demo projects that target the Renesas Demonstration
1836 Kit (RDK) to take into account the revered LED wiring on later hardware
1837 revisions, and the new J-Link debug interface DLL.
1838 + Updated all the RX62N demo projects so the IO page served by the example
1839 embedded web server works with all web browsers.
1840 + Updated the Red Suite projects to work with the up coming Red Suite
1841 release, and to use a more recent version of the CMSIS libraries.
1842 + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro.
1843 + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED()
1845 + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment
1846 the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for
1847 more flexibility in how the time base for the run time statistics feature
1849 + Added a "cpsie i" instruction before the "svc 0" instruction used to start
1850 the scheduler in each of the Cortex M3 ports. This is to ensure that
1851 interrupts are globally enabled prior to the "svc 0" instruction being
1852 executed in cases where interrupts are left disabled by the C start up
1854 + Slight optimisation in the run time stats calculation.
1856 Changes between V6.0.5 and V6.1.0 released October 6 2010
1858 + Added xTaskGetTickCountFromISR() function.
1859 + Modified vTaskSuspend() to allow tasks that have just been created to be
1860 immediately suspended even when the kernel has not been started. This
1861 allows them to effectively start in the Suspended state - a feature that
1862 has been asked for on numerous occasions to assist with initialisation
1864 + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites.
1865 + Added a STM32F103 demo application that uses the Rowley tools.
1866 + Under specific conditions xFreeBytesRemaining within heap_2.c could end up
1867 with an incorrect value. This has been fixed.
1868 + xTaskCreateGeneric() has a parameter that can be used to pass the handle
1869 of the task just created out to the calling task. The assignment to this
1870 parameter has been moved to ensure it is assigned prior to the newly
1871 created having any possibility of executing. This takes into account the
1872 case where the assignment is made to a global variable that is accessed by
1873 the newly created task.
1874 + Fixed some build time compiler warnings in various FreeTCPIP (based on
1876 + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c.
1878 Changes between V6.0.4 and V6.0.5 released May 17 2010
1880 + Added port and demo application for the Cortus APS3 processor.
1882 Changes between V6.0.3 and V6.0.4 released March 14 2010
1884 + All the contributed files that were located in the Demo/Unsupported_Demos
1885 directory have been removed. These files are instead now available in the
1886 new Community Contributions section of the FreeRTOS website. See
1887 https://www.FreeRTOS.org/RTOS-contributed-ports.html
1888 + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory
1889 has been upgraded to use V2.x of the Rowley Crossworks STM32 support
1891 + An initial Energy Micro EFM32 demo has been included. This will be
1892 updated over the coming months to make better use of the low power modes
1895 Changes between V6.0.2 and V6.0.3 released February 26 2010
1897 + SuperH SH7216 (SH2A-FPU) port and demo application added.
1898 + Slight modification made to the default implementation of
1899 pvPortMallocAligned() and vPortFreeAligned() macros so by default they
1900 just call pvPortMalloc() and vPortFree(). The macros are only needed to
1901 be defined when a memory protection unit (MPU) is being used - and then
1902 only depending on other configuration settings.
1904 Changes between V6.0.1 and V6.0.2 released January 9th 2010
1906 + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter.
1907 Previously the parameter was blank and therefore only an implicit 0 but
1908 newer GCC releases do not permit this.
1909 + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40.
1910 + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes.
1911 + Updated prvListTaskWithinSingleList() is it works on processors where the
1912 stack grows up from low memory.
1913 + Corrected some comments.
1914 + Updated the startup file for the RVDS LPC21xx demo.
1916 Changes between V6.0.0 and V6.0.1 released November 15th 2009
1918 + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the
1919 stack pointer is where the compiler expects it to be when a task first
1922 The following minor changes only effect the Cortex-M3 MPU port:
1924 + portRESET_PRIVILEGE() assembly macro updated to include a clobber list.
1925 + Added prototypes for all the privileged function wrappers to ensure no
1926 compile time warnings are generated no matter what the warning level
1928 + Corrected the name of portSVC_prvRaisePrivilege to
1929 portSVC_RAISE_PRIVILEGE.
1930 + Added conditional compilation into xTaskGenericCreate() to prevent some
1931 compilers issuing warnings when portPRIVILEGE_BIT is defined as zero.
1934 Changes between V5.4.2 and V6.0.0 released October 16th 2009
1936 FreeRTOS V6 is backward compatible with FreeRTOS V5.x.
1940 + FreeRTOS V6 is the first version to include memory protection unit (MPU)
1941 support. Two ports now exist for the Cortex M3, the standard FreeRTOS
1942 which does not include MPU support, and FreeRTOS-MPU which does.
1943 + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added
1944 in support of FreeRTOS-MPU.
1945 + Wording for the GPL exception has been (hopefully) clarified. Also the
1946 license.txt file included in the download has been fixed (the previous
1947 version contained some corruption).
1951 + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c.
1952 + ARM7 GCC demo interrupt service routines wrappers have been modified to
1953 call the C portion using an __asm statement. This prevents the function
1954 call being inlined at higher optimisation levels.
1955 + ARM7 ports now automatically set the THUMB bit if necessary when
1956 setting up the initial stack of a task - removing the need for
1957 THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode
1958 tasks to be mixed more easily.
1959 + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default.
1960 + Various demo application project files have been updated to be up to date
1961 with the latest IDE versions.
1962 + The linker scripts used with command line GCC demos have been updated to
1963 include an eh_frame section to allow their use with the latest Yagarto
1964 release. Likewise the demo makefiles have been updated to include
1965 command line options to reduce or eliminate the eh_frame section all
1967 + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the
1968 various memory allocation files and into the common portable.h header
1970 + Removed unnecessary use of portLONG, portSHORT and portCHAR.
1971 + Added LM3Sxxxx demo for Rowley CrossWorks.
1972 + Posix simulator has been upgraded - see the corresponding WEB page on the
1976 Changes between V5.4.1 and V5.4.2 released August 9th 2009
1978 + Added a new port and demo app for the Altera Nios2 soft core.
1979 + Added LPC1768 demo for IAR.
1980 + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR).
1981 + Changed clock frequency of LPC1768 demos to 99MHz.
1983 Changes between V5.4.0 and V5.4.1 released July 25th 2009
1985 + New hook function added. vApplicationMallocFailedHook() is (optionally)
1986 called if pvPortMalloc() returns NULL.
1987 + Additional casting added to xTaskCheckForTimeOut(). This prevents
1988 problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a
1989 32 bit architecture (which would probably be a mistake, anyway).
1990 + Corrected the parameter passed to NVIC_SetPriority() to set the MAC
1991 interrupt priority in both LPC1768 demos.
1992 + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32
1993 demo application to ensure the heap space was not completely consumed
1994 before the scheduler was started.
1996 Changes between V5.3.1 and V5.4.0 released July 13th 2009
1998 + Added Virtex5 / PPC440 port and demos.
1999 + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The
2000 original demo was configured to use engineering samples of the CPU. The
2001 new demo has an improved Ethernet driver.
2002 + Added LPC1768 Rowley demo with zero copy Ethernet driver.
2003 + Reworked byte alignment code to ensure 8 byte alignment works correctly.
2004 + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects.
2005 + Changed the initial stack setup for the PPC405 to ensure the small data
2006 area pointers are setup correctly.
2008 Changes between V5.3.0 and V5.3.1 released June 21st 2009
2010 + Added ColdFire V1 MCF51CN128 port and WEB server demo.
2011 + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo.
2012 + Changed the Cortex M3 port.c asm statements to __asm so it can be
2013 compiled using Rowley CrossWorks V2 in its default configuration.
2014 + Updated the Posix/Linux simulator contributed port.
2016 Changes between V5.2.0 and V5.3.0 released June 1st 2009
2020 + Added new (optional) feature that gathers statistics on the amount of CPU
2021 time used by each task.
2022 + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based
2024 + Added a new demo application for the NXP LPC1766 Cortex-M3 based
2026 + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a
2030 + Updated the Stellaris uIP WEB server demos to include the new run time
2031 statistics gathering feature - and include a served WEB page that
2032 presents the information in a tabular format.
2033 + Added in the lwIP port layer for the Coldfire MCF52259.
2034 + Updated the CrossWorks LPC2368 WEB server to include an image in the
2036 + Changed some of the timing in the initialisation of the LPC2368 MAC to
2037 permit its use on all part revisions.
2038 + Minor modifications to the core uIP code to remove some compiler warnings.
2039 + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom
2040 demo to make use of the new function.
2041 + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using
2043 + Heap_1.c and Heap_2.c used to define structures for the purpose of data
2044 alignment. These have been converted to unions to save a few bytes of
2045 RAM that would otherwise be wasted.
2046 + Remove the call to strncpy() used to copy the task name into the TCB when
2047 the maximum task name is configured to be 1 byte long.
2049 Changes between V5.1.2 and V5.2.0 released March 14th 2009
2051 + Optimised the queue send and receive functions (also used by semaphores).
2052 + Replaced the standard critical sections used to protect BIOS calls in the
2053 PC port to instead use scheduler locks. This is because the BIOS calls
2054 always return with interrupts enabled.
2055 + Corrected unclosed comments in boot.s.
2057 Changes between V5.1.1 and V5.1.2 released February 9th 2009
2059 + Added NEC V850ES port and demo.
2060 + Added NEC 78K0R port and demo.
2061 + Added MCF52259 port and demo.
2062 + Added the AT91SAM9XE port and demo.
2063 + Updated the MCF52233 FEC driver to work around a silicon bug that
2064 prevents the part auto negotiating some network parameters.
2065 + Minor modifications to the MCF52233 makefile to permit it to be used
2067 + Updated the STM32 primer files to allow them to be built with the latest
2068 version of the RIDE tools.
2069 + Updated the threads.js Java script used for kernel aware debugging in
2070 the Rowley CrossWorks IDE.
2073 Changes between V5.1.0 and V5.1.1 released November 20, 2008
2075 + Added Coldfire MCF52233 WEB server demo using GCC and Eclipse.
2076 + Added IAR MSP430 port and demo.
2077 + Corrected several compiler time issues that had crept in as tool versions
2079 + Included FreeRTOS-uIP - a faster uIP. This is not yet complete.
2081 Changes between V5.0.4 and V5.1.0 released October 24, 2008
2083 + Added a new port and demo application for the ColdFire V2 core using the
2084 CodeWarrior development tools.
2085 + Replaced the ARM7 demo that used the old (and now no longer supported)
2086 Keil compiler with a new port that uses the new Keil/RVDS combo.
2087 + Stack overflow checking now works for stacks that grow up from low
2088 memory (PIC24 and dsPIC).
2089 + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct
2091 + MSP430 port layers have been updated to permit tasks to place the
2092 microcontroller into power down modes 1 to 3. The demo applications have
2093 likewise been updated to demonstrate the new feature.
2094 + Replaced the two separate MSP430/Rowley port layers with a single and more
2096 + Added more contributed ports, including ports for NEC and SAM9
2098 + Changed the linker script used in the LPC2368 Eclipse demo.
2100 Changes between V5.0.3 and V5.0.4 released September 22, 2008
2102 + Completely re-written port for ColdFire GCC.
2103 + Bug fix: All Cortex M3 ports have a minor change to the code that sets
2104 the pending interrupt.
2105 + Some header files require that FreeRTOS.h be included prior to their
2106 inclusion. #error message have been added to all such header file
2107 informing users to the cause of the compilation error should the headers
2108 not be included in the correct order.
2110 Changes between V5.0.2 and V5.0.3 released July 31, 2008
2112 Changes relating to the Cortex M3:
2114 + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3
2115 ports and demos. See the port documentation pages on the FreeRTOS.org
2116 WEB site for full usage information.
2117 + Improved efficiency of Cortex M3 port even further.
2118 + Ensure the Cortex M3 port works no matter where the vector table is
2120 + Added the IntQTimer demo/test tasks to a demo project for each CM3 port
2121 (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY
2123 + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil
2124 projects to allow the WEB server to be conditionally excluded from the
2125 build and therefore allow use of the KickStart (code size limited)
2130 + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to
2131 an assembly file to allow use with all MPLAB compiler versions. This also
2132 allows the omit-frame-pointer optimisation to be turned off.
2134 Changes between V5.0.0 and V5.0.2 released May 30, 2008
2136 + Updated the PIC32 port to allow queue API calls to be used from
2137 interrupts above the kernel interrupt priority, and to allow full
2138 interrupt nesting. Task stack usages has also been reduced.
2139 + Added a new PowerPC port that demonstrates how the trace macros can be
2140 used to allow the use of a floating point co-processor. The
2141 traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to
2142 save and restore the floating point context respectively for those tasks
2143 that actually use floating point operations.
2144 + BUG FIX: The first PPC405 port contained a bug in that it did not leave
2145 adequate space above the stack for the backchain to be saved when a task
2146 started to execute for the first time.
2147 + Updated queue.c to add in the means to allow interrupt nesting and for
2148 queue API functions to be called from interrupts that have a priority
2149 above the kernel priority. This is only supported on PIC32 ports thus
2151 + Fixed the compiler warnings that were generated when the latest version
2153 + Remove all inline usage of 'inline' from the core kernel code.
2154 + Added the queue registry feature. The queue registry is provided as a
2155 means for kernel aware debuggers to locate queue definitions. It has no
2156 purpose unless you are using a kernel aware debugger. The queue registry
2157 will only be used when configQUEUE_REGISTRY_SIZE is greater than zero.
2158 + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to
2159 prevent them from having to be included in multiple demos.
2160 + Added a Keil STM32 demo application.
2161 + Changed the blocktim.c test files as it is no longer legitimate for all
2162 ports to call queue API functions from within a critical section.
2163 + Added the IntQueue.c test file to test the calling of queue API functions
2164 from different interrupt priority levels, and test interrupt nesting.
2166 Changes between V5.0.0 and V5.0.1
2168 + V5.0.1 was a customer specific release.
2170 Changes between V4.8.0 and V5.0.0 released April 15, 2008
2172 *** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 ***
2174 The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(),
2175 xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must
2176 update all calls to these functions to use the new calling convention! Your
2177 compiler might not issue any type mismatch warnings!
2182 + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3
2184 + New task hook feature added.
2185 + PowerPC demo updated to use version 10.1 of the Xilinx EDK.
2186 + Efficiency gains within the PIC32 port layer.
2188 Changes between V4.7.2 and V4.8.0 released March 26 2008
2190 + Added a Virtex4 PowerPC 405 port and demo application.
2191 + Added optional stack overflow checking and new
2192 uxTaskGetStackHighWaterMark() function.
2193 + Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and
2194 uxQueueMessagesWaitingFromISR() API functions.
2195 + Efficiency improvements to the Cortex-M3 port layer. NOTE: This
2196 requires that an SVC handler be installed in the application.
2197 + Efficiency improvements to the queue send and receive functions.
2198 + Added new trace macros. These are application definable to provide
2199 a flexible trace facility.
2200 + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex
2201 M3 port layer (bringing it up to the same standard as the IAR and GCC
2203 + Ports that used the arm-stellaris-eabi-gcc tools have been converted to
2204 use the arm-non-eabi-gcc tools.
2206 Changes between V4.7.1 and V4.7.2 released February 21, 2008
2208 + Added Fujitsu MB91460 port and demo.
2209 + Added Fujitsu MB96340 port and demo.
2210 + Tidied up the capitalisation of include files to facilitate builds on
2212 + Removed some redundant casting that was generating warnings - but was
2213 included to remove warnings on other compilers.
2215 Changes between V4.7.0 and V4.7.1 released February 3, 2008
2217 + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench
2219 + Introduced recursive semaphore feature.
2220 + Updated LPC2368 demos to take into account silicon bugs in old chip
2222 + Updated STR9 uIP port to manually set the net mask and gateway addresses.
2223 + Updating demos to allow more to run with the co-operative scheduler.
2224 + Fixed co-operative scheduler behaviour upon the occurrence of a tick
2225 interrupt while the scheduler was suspended.
2226 + Updated documentation contained within semphr.h.
2227 + ARM7 GCC ports no longer use the IRQ attribute.
2229 Changes between V4.6.1 and V4.7.0 released December 6, 2007
2231 + Introduced the counting semaphore macros and demo source files. The
2232 Open Watcom PC project has been updated to include the new demo. See
2233 the online documentation for more information.
2234 + Introduced the 'alternative' queue handling API and demo source files.
2235 The Open Watcom PC project has been updated to include the new demo
2236 source files. See the online documentation for more information.
2237 + Added AT91SAM7X Eclipse demo project.
2238 + Added the STM32 primer demo project for the GCC compiler and Ride IDE.
2239 + Removed the .lock files that were mistakenly included in the V4.6.1
2242 Changes between V4.6.0 and V4.6.1 released November 5 2007
2244 + Added support for the MIPS M4K based PIC32.
2245 + Added 'extern "C"' to all the header files to facilitate use with C++.
2247 Changes between V4.5.0 and V4.6.0 released October 28 2007
2249 + Changed the method used to force a context switch within an ISR for the
2250 ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and
2251 portEXIT_SWITCHING_ISR() macros are no longer supported. This is to
2252 ensure correct behaviour no matter which GCC version is used, with or
2253 without the -fomit-frame-pointer option, and at all optimisation levels.
2254 + Corrected the prototype for xQueueGenericSend() within queue.h.
2256 Changes between V4.4.0 and V4.5.0 released September 17 2007
2258 + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek()
2259 functionality. These should now be used in preference to the old
2260 xQueueSend() function - which is maintained for backward compatibility.
2261 + Added Mutex functionality. The behaviour of mutexes is subtly different
2262 to the already existing binary semaphores as mutexes automatically
2263 include a priority inheritance mechanism.
2264 + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour
2265 of the new functionality.
2266 + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and
2268 + Updated the GCC port for the Cortex M3 to include the
2269 configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only
2270 included in the IAR port.
2271 + Optimised the GCC and IAR port layer code - specifically the context
2273 + Consolidated the LM3Sxxxx EK demos for all development tools into a
2274 single project that automatically detects which version of the EK the
2275 application is executing on.
2276 + Added Eclipse support for LM3Sxxxx evaluation kits.
2277 + Added Eclipse support for the Keil LPC2368 evaluation kit.
2278 + Added the Demo/Drivers directory to hold code that is common to multiple
2279 demo application projects.
2280 + Included some minor bug fixes in the uIP 1.0 code.
2281 + Added an lwIP demo for the STR9 - thanks ST for assistance.
2282 + Updated the AVR32 port to ensure correct behaviour with full compiler
2284 + Included binaries for OpenOCD FTDI and parallel port interfaces.
2286 Changes between V4.4.0 and V4.3.1 released July 31, 2007
2288 + Added AVR32 UC3B demo application.
2289 + Updated AVR32 UC3A port and demo applications.
2290 + Added IAR lwIP demo for AVR32 UC3A.
2291 + Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation
2292 (thanks Niu Yong for making the suggestion).
2293 + Added xTaskGetSchedulerState() API function.
2294 + BUG FIX: Corrected behaviour when tasks that are blocked indefinitely
2295 have their block time adjusted (within xQueueSend() and xQueueReceive()),
2296 and are the subject of a call the vTaskResume() when they are not
2297 actually in the Suspended state (thanks Dan Searles for reporting the
2301 Changes between V4.3.0 and V4.3.1 released June 11, 2007
2303 + Added STMicroelectronics STM32 Cortex-M3 demo application.
2304 + Updated ustdlib.c for the GCC LM3S6965 demo.
2306 Changes between V4.2.1 and V4.3.0 released June 5, 2007
2308 + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24
2309 and dsPIC ports. See the LM3S6965 and PIC24 demo application
2310 documentation pages for more information.
2311 + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC
2312 tools, and changed the demo applications.
2313 + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris
2315 + Corrected bug in uIP the demos that prevented frames of approximately 1480
2316 bytes and over from being transmitted.
2317 + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org
2319 + Update to WizC PIC18 port to permit its use with version 14 of the
2320 compiler. Thanks Marcel!
2322 Changes between V4.2.1 and V4.2.0 released April 2, 2007
2324 + Added AVR32 AT32UC3A ports for GCC and IAR.
2325 + Added -fomit-frame-pointer option to lwIP SAM7X demo makefile.
2326 + Moved location of call to LCD_Init() in STR9 demo to ensure it is only
2327 called after the scheduler has been started.
2329 Changes between V4.1.3 and V4.2.0 released February 8, 2007
2331 + Changes to both task.c and queue.c as a result of testing performed on
2332 the SafeRTOS code base.
2333 + Added Cortex-M3 LM3S811 demos for GCC and IAR tools.
2335 Changes between V4.1.2 and V4.1.3 released November 19, 2006
2337 + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools.
2338 + Added -fomit-frame-pointer option to Rowley ARM7 demos as work around
2339 to GCC bug at some optimisation levels.
2340 + Altered the way the heap is defined in the LM3S811 Keil demo to prevent
2341 the RAM usage from counting toward the code size limit calculation.
2342 + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within
2343 xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz.
2344 + Tasks that block on events with a timeout of portMAX_DELAY are now
2345 blocked indefinitely if configINCLUDE_vTaskSuspend is defined.
2346 Previously portMAX_DELAY was just the longest block time possible. This
2347 is still the case if configINCLUDE_vTaskSuspend is not defined.
2348 + Minor changes to some demo application files.
2350 Changes between V4.1.1 and V4.1.2 released October 21, 2006
2352 + Added 16bit PIC ports and demos.
2353 + Added STR750 port and demo.
2356 Changes between V4.1.0 and V4.1.1 released September 24, 2006
2358 + Added the Luminary Micro Stellaris LM3S811 demo application.
2360 Changes between V4.0.5 and V4.1.0 released August 28, 2006
2362 + Prior to V4.1.0, under certain documented circumstances, it was possible
2363 for xQueueSend() and xQueueReceive() to return without having completed
2364 and without their block time expiring. The block time effectively
2365 stated a maximum block time, and the return value of the function needed
2366 to be checked to determine the reason for returning. This is no longer
2367 the case as the functions will only return once the block time has
2368 expired or they are able to complete their operation. It is therefore no
2369 longer necessary to wrap calls within loops.
2370 + Changed the critical section handling in the IAR AVR port to correct the
2371 behaviour when used with later compiler versions.
2372 + Added the LPC2138 CrossWorks demo into the zip file. Previously this was
2373 only available as a separate download.
2374 + Modified the AVR demo applications to demonstrate the use of co-routines.
2376 Changes between V4.0.4 and V4.0.5 released August 13, 2006
2378 + Introduced API function xTaskResumeFromISR(). Same functionality as
2379 xTaskResume(), but can be called from within an interrupt service routine.
2380 + Optimised vListInsert() in the case when the wake time is the maximum
2382 + Bug fix: The 'value' of the event list item is updated when the priority
2383 of a task is changed. Previously only the priority of the TCB itself was
2385 + vTaskPrioritySet() and vTaskResume() no longer use the event list item.
2386 This has not been necessary since V4.0.1 when the xMissedYield handling
2388 + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz.
2389 + When ending the scheduler - do not try to attempt a context switch when
2390 deleting the current task.
2391 + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining
2392 the length from the rx descriptor.
2395 Changes between V4.0.3 and V4.0.4 released June 22, 2006
2397 + Added a port and demo application for the STR9 ARM9 based processors from
2399 + Slight optimisation to the vTaskPrioritySet() function.
2400 + Included the latest uIP version (1.0) in the demo/common/ethernet
2403 Changes between V4.0.2 and V4.0.3 released June 7, 2006
2405 + Added a port and demo application for the Cortex-M3 target using the IAR
2407 + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the
2409 + The heap size defined for the lwIP Rowley demo has been reduced so that
2410 the project will link correctly when using the command line GCC tools
2411 also. The makefile has also been modified to allow debugging.
2412 + The lwIP Rowley demo not includes a 'kernel aware' debug window.
2413 + The uIP Rowley project has been updated to build with V1.6 of CrossWorks.
2414 + The second set of tasks in the blockQ demo were created the wrong way
2415 around (inconsistent to the description in the file). This has been
2418 Changes between V4.0.1 and V4.0.2 released May 28, 2006
2420 + Port and demo application added for the Tern Ethernet Engine controller.
2421 + Port and demo application added for MC9S12 using GCC, thanks to
2422 Jefferson "imajeff" Smith.
2423 + The function vTaskList() now suspends the scheduler rather than disabling
2424 interrupts during the creation of the task list.
2425 + Allow a task to delete itself by passing in its own handle. Previously
2426 this could only be done by passing in NULL.
2427 + Corrected the value passed to the WDG_PeriodValueConfig() library
2428 function in the STR71x demo.
2429 + The tick hook function is now called only within a tick isr. Previously
2430 it was also called when the tick function was called during the scheduler
2432 + The EMAC driver in the SAM7X lwIP demo has been made more robust as per
2433 the thread: https://sourceforge.net/forum/message.php?msg_id=3714405
2434 + In the PC ports: Add function prvSetTickFrequencyDefault() to set the
2435 DOS tick back to its proper value when the scheduler exits. Thanks
2437 + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT
2438 macro where the BP register was not popped from the stack correctly. The
2439 BP value would never get used so this did not cause a problem, but it has
2440 been corrected all the same.
2443 Changes between V4.0.0 and V4.0.1 released April 7 2006
2445 + Improved the ARM CORTEX M3 ports so they now only have to service
2447 + Added a Luminary Micro port and demo for use with Rowley CrossWorks.
2448 + Added the xMissedYield handling to tasks.c.
2450 Changes between V3.2.4 and V4.0.0
2454 + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers.
2455 + Added new co-routine functionality.
2457 Other kernel changes:
2459 + An optional tick hook call is now included in the tick function.
2460 + Introduced the xMiniListItem structure and removed the list pxHead
2461 member in order to reduce RAM usage.
2462 + Added the following definitions to the FreeRTOSConfig.h file included
2465 configUSE_CO_ROUTINES
2466 configMAX_CO_ROUTINE_PRIORITIES
2467 + The volatile qualification has been changed on the list members to allow
2468 the task.c code to be tidied up a bit.
2469 + The scheduler can now be started even if no tasks have been created!
2470 This is to allow co-routines to run when there are no tasks.
2471 + A task being woken by an event will now preempt the currently running task
2472 even if its priority is only equal to the currently running task.
2474 Port and demo application changes:
2476 + Updated the WinAVR demo to compile with the latest version of WinAVR
2477 with no warnings generated.
2478 + Changed the WinAVR makefile to make chars signed - needed for the
2479 co-routine code if BaseType_t is set to char.
2480 + Added new demo application file crflash.c. This demonstrates co-routine
2481 functionality including passing data between co-routines.
2482 + Added new demo application file crhook.c. This demonstrates co-routine
2483 and tick hook functionality including passing data between and ISR and
2485 + Some NOP's were missing following stmdb{}^ instructions in various ARM7
2486 ports. These have been added.
2487 + Updated the Open Watcom PC demo project to include the crflash and crhook
2488 demo co-routines as an example of their use.
2489 + Updated the H8S demo to compile with the latest version of GCC.
2490 + Updated the SAM7X EMAC drivers to take into account the hardware errata
2491 regarding lost packets.
2492 + Changed the default MAC address used by some WEB server demos as the
2493 original addresses used was not liked by some routers.
2494 + Modified the SAM7X/IAR startup code slightly to prevent it hanging on
2495 some systems when the code is executed using a j-link debugger. The
2496 j-link macro file configures the PLL before the code executes so
2497 attempting to configure it again in the startup code was causing a
2498 problem for some user. Now a check is performed first to see if the
2499 PLL is already set up.
2500 + GCC port now contain all assembler code in a single asm block rather than
2501 individual blocks as before.
2502 + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler
2503 choose the register to use as a temporary register during the context
2505 + Added portNOP() macro.
2506 + The compare match load value on LPC2000 ports now has 1 added to correct
2508 + The minimal stack depth has been increased slightly on the WIZC PIC18
2511 Changes between V3.2.3 and V3.2.4
2513 + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above.
2514 Many thanks to Glen Biagioni for the provided update.
2515 + Added a new Microblaze port and demo application.
2516 + Modified the SAM7X EMAC demo to default to use the MII interface rather
2517 than the RMII interface.
2518 + Modified the startup sequence of the SAM7X demo slightly to allow the
2519 EMAC longer to auto negotiate.
2521 Changes between V3.2.2 and V3.2.3
2523 + Added MII interface support to the SAM7X EMAC peripheral driver.
2524 Previously versions worked with the RMII interface only.
2525 + Added command line GCC support to the SAM7X lwIP demo. Previously the
2526 project could only be built using the CrossWorks IDE. Modifications to
2527 this end include the addition of a standard makefile and linker script to
2528 the download, and some adjustments to the stacks allocated to each task.
2529 + Changed the page returned by the lwIP WEB server demo to display the
2530 task status table rather than the TCP/IP statistics.
2531 + Corrected the capitalisation of some header file includes and makefile
2532 dependencies to facilitate use on Linux host computers.
2533 + The various LPC2000 ports had a mistake in the timer setup where the
2534 prescale value was written to T0_PC instead of T0_PR. This would have
2535 no effect unless a prescale value was actually required. This has been
2538 Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005
2540 + Added an IAR port for the Philips LPC2129
2541 + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded
2542 Workbench V4.30a format.
2543 + Updated the J-Link macro file included with the SAM7X uIP demo project
2544 to allow the demo board to be reset over the J-Link.
2546 Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005
2548 + Added lwIP demo for AT91SAM7X using Rowley tools.
2549 + Added uIP demo for AT91SAM7X using IAR tools.
2550 + Added function xTaskGetCurrentTaskHandle().
2551 + Renamed events.h to mevents.h to prevent it conflicting with the events.h
2552 generated automatically by the HCS12 processor expert utility. events.h
2553 is only used by the PC demo application.
2554 + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value
2555 expected by the compiler, and the compilers do not write to this
2557 + The HCS12 banked model demo now creates the 'suicide' tasks immediately
2558 prior to starting the scheduler. These tasks should be the last tasks to
2559 get started in order for the test to function correctly.
2561 Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005
2563 V3.2.0 introduces two new MSP430 ports and corrects a minor kernel
2564 issues. Thanks to Ares.qi for his input.
2566 + Added two MSP430 ports that use the Rowley CrossWorks development tools.
2567 One port just mirrors the existing GCC port. The other port was provided
2568 by Milos Prokic. Thanks!
2569 + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume()
2570 are called while the scheduler is locked (by a call to
2571 vTaskSuspendAll()). When this is done the subject task now starts to
2572 execute immediately when the scheduler is unlocked if it has the highest
2573 priority that is ready to run. Previously there was a possibility that
2574 the task would not run until the next RTOS tick or call to portYIELD().
2575 + Another similar small correction ensures that in the case where more than
2576 one task is blocked on a semaphore or queue, the task with the highest
2577 priority is guaranteed to be unblocked first.
2578 + Added a couple of more test tasks to the PC demo which cover the points
2581 Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005
2583 This release updates the HCS12 port. The common kernel code
2586 + Updated the HCS12 port to support banking and introduced a demo
2587 application for the MC9S12DP256. The new demo application is
2588 located in the Demo/HCS12_CodeWarrior_banked directory.
2589 + The name of the directory containing the MC9S12F32 demo application
2590 has been changed to Demo/HCS12_CodeWarrior_small (as in 'small'
2592 + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the
2593 demo application is now 24MHz. Previously it was 8MHz.
2594 + The demo application file Demo/Common/Minimal/death.c has a slight
2595 alteration to prevent it using floating point variables.
2598 Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005
2600 + Added new ports for ST Microsystems STR71x, and Freescale HCS12
2601 microcontrollers. Currently the HCS12 port is limited to the small
2602 memory model. Large memory models will be supported in the next
2604 + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his
2605 continuing contribution.
2606 + The accuracy of the AVR port timer setup has been improved. Thanks to
2607 Thomas Krutmann for this contribution.
2608 + Added a new conditional compilation macro configIDLE_SHOULD_YIELD.
2609 See the WEB documentation for details.
2610 + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks.
2611 + Slight modification to the SAM7 release build configuration to correct
2612 an include path definition.
2613 + Updated the MPLAB PIC18 documentation to provide extra details on linker
2616 Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005
2618 V3.0.0 includes many enhancements, so this history list is broken into
2619 subsections as follows:
2623 Directory name changes
2624 Kernel and miscellaneous changes changes
2628 + Each port now defines BaseType_t as the data type that is most
2629 efficient for that architecture. The type BaseType_t is used
2630 extensively in API calls necessitating the following changes to the
2631 FreeRTOS API function prototypes.
2633 See the "New for V3.0.0" section of the FreeRTOS online
2634 documentation for full details of API changes.
2638 + The AT91FR40008 ARM7 port contributed by John Feller is now included
2639 in the download (thanks John!).
2640 + The PIC18 port for the wizC/fedC compiler contributed by Marcel van
2641 Lieshout is now included in the download (thanks Marcel!).
2642 + The IAR port for the AVR microcontroller has been upgraded to V3.0.0
2643 and is now a supported port.
2645 - Directory name changes
2647 For consistency, and to allow integration of the new ports, the
2648 following directory names have been changed.
2650 + The source/portable/GCC/ARM7 directory has been renamed
2651 source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming
2652 of other GCC ARM7 ports.
2653 + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to
2654 accommodate the wizC/fedC PIC port.
2655 + The demo applications for the two AVR ports no longer share the same
2656 directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR
2657 directory and the IAR port in the Demo/AVR_ATMega323_IAR directory.
2660 - Kernel and miscellaneous changes changes
2662 See the "New for V3.0.0" section of the FreeRTOS online
2663 documentation for more information.
2665 + Previously 'portmacro.h' contained some user editable definitions
2666 relating to the user application, and some fixed definitions relating
2667 specifically to the port being used. The application specific
2668 definitions have been removed from 'portmacro.h' and placed inside a
2669 new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now
2670 never be modified by the user. A 'FreeRTOSConfig.h' is now included
2671 in each of FreeRTOS/Demo subdirectories - as it's settings relate to
2672 the demo application rather than being specific to the port.
2673 + Introduced configUSE_IDLE_HOOK in idle task.
2674 + The idle task will yield when another idle priority task is ready to
2675 run. Previously the idle task would run to the end of its time slice
2677 + The idle task is now created when the scheduler is started. This
2678 requires less stack than the previous scheme where it was created upon
2679 creation of the first application task.
2680 + The function usPortCheckFreeStackSpace() has been renamed
2681 usTaskCheckFreeStackSpace() and moved from the portable layer to
2683 + Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE.
2684 + The portheap.c file included with the AVR port has been deleted. The
2685 AVR demo now uses the standard heap1 sample memory allocator.
2686 + The GCC AVR port is now build using the standard make utility. The
2687 batch files used previously have been deleted. This means a recent
2688 version of WinAVR is required in order to create a binary suitable for
2689 source level debugging.
2690 + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION
2691 constant as a parameter. Instead the constant is used directly within
2692 tasks.c and no parameter is required.
2693 + The header file 'FreeRTOS.h' has been created and is used to include
2694 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary
2695 order. FreeRTOS.h can now be included in place of these other
2697 + The header file 'errors.h' has been deleted. The definitions it
2698 contained are now located within 'projdefs.h'.
2699 + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc().
2700 Previously an unsigned short was used.
2701 + When resuming the scheduler a yield is performed if either a tick has
2702 been missed, or a task is moved from the pending ready list into a
2703 ready list. Previously a yield was not performed on this second
2705 + In heap1.c an overflow check has been added to ensure the next free
2706 byte variable does not wrap around.
2707 + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO()
2709 + The MPLAB PIC port now saved the TABLAT register in interrupt service
2712 Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005
2714 This version adds support for the H8 processor.
2718 + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each
2719 individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM
2720 limited ports to allocate fewer characters to the task name.
2721 + AVR port - Replaced the inb() and outb() functions with direct memory
2722 access. This allows the port to be built with the 20050414 build of
2724 + GCC LPC2106 port - removed the 'static' from the definition of
2725 vNonPreemptiveTick() to allow the demo to link when using the cooperative
2727 + GCC LPC2106 port - Corrected the optimisation options in the batch files
2728 ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case
2729 -o is replaced by an uppercase -O.
2730 + Tasks.c - The strcpy call has been removed when copying across the task
2732 + Updated the trace visualisation to always be 4 byte aligned so it can be
2733 used on ARM architectures.
2734 + There are now two tracecon executables (that convert the trace file binary
2735 into an ASCII file). One for big endian targets and one for little endian
2737 + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called
2738 too often in the idle task.
2739 + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt
2740 mask with the RX_DATA_BK1.
2743 Changes between V2.5.5 and V2.6.0 - Released January 16, 2005
2745 + Added the API function vTaskDelayUntil(). The demo app file
2746 Demo/Common/Minimal/flash.c has been updated to demonstrate its use.
2747 + Added INCLUDE_vTaskDelay conditional compilation.
2748 + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to
2749 Demo/ARM7_AT91SAM7S64_IAR for consistency.
2750 + Modified the AT91SAM7S USB driver to allow descriptors that have
2751 a length that is an exact multiple of the FIFO to be transmitted.
2753 Changes between V2.5.4 and V2.5.5 - Released January 3, 2005
2755 This version adds support for the Atmel SAM7 ARM7 microcontrollers
2756 along with the IAR development tools.
2760 + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC.
2761 + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil.
2762 + Modified the Philips ARM7 serial interrupt service routines to only
2763 process one interrupt per call. This seems to enable the ISR to
2764 operate more quickly.
2765 + Removed the 'far' keyword from the Open Watcom portable layer source
2766 files. This allows their use with V1.3 of Open Watcom.
2767 + Minor modifications to the SDCC build files to allow their use under
2768 Linux. Thanks to Frieder Ferlemann for this contribution.
2769 + Small change to sTaskCreate() to allow a context switch even when
2770 pxCreatedTask is NULL. Thanks to Kamil for this contribution.
2771 + inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick()
2774 Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004
2776 This is an important maintenance release.
2778 The function cTaskResumeAll() has been modified so it can be used safely
2779 prior to the kernel being initialised. This was an issue as
2780 cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun
2781 for highlighting this issue.
2783 Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004
2785 The critical section handling functions have been changed for the GCC ARM7
2786 port. Some optimisation levels use the stack differently to others. This
2787 means the interrupt flags cannot always be stored on the stack and are
2788 instead now stored in a variable, which is then saved as part of the
2789 tasks context. This allows the GCC ARM7 port to be used at all
2790 optimisation levels - including -Os.
2792 Other minor changes:
2794 + MSP430 definition of usCriticalNesting now uses the volatile qualifier.
2795 This is probably not required but added just in case.
2797 Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004
2799 + Added the Keil ARM7 port.
2800 + Slight modification to comtest.c to make the delay periods more random.
2801 This creates a better test condition.
2803 Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004
2805 + Added the MSP430 port.
2806 + Extra comments added to the GCC ARM7 port.c and portISR.c files.
2807 + The memory pool allocated within heap_1.c has been placed within a
2808 structure to ensure correct memory alignment on 32bit systems.
2809 + Within the GCC ARM7 serial drivers an extra check is made to ensure
2810 the post to the queue was successful if then attempting immediately
2811 retrieve the posted character.
2812 + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS
2813 as the old name was misleading.
2816 Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004
2818 The RTOS source code download now includes three separate memory allocation
2819 schemes - so you can choose the most appropriate for your application.
2820 These are found in the Source/Portable/MemMang directory. The demo
2821 application projects have also been updated to demonstrate the new schemes.
2822 See the "Memory Management" page of the API documentation for more details.
2824 + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang
2826 + Replaced the portheap.c files for each demo application with one of the
2827 new memory allocation files.
2828 + Updated the portmacro.h file for each demo application to include the
2829 constants required for the new memory allocators: portTOTAL_HEAP_SIZE and
2831 + Added a new test to the ARM7 demo application that tests the operation
2832 of the heap_2 memory allocator.
2835 Changes between V2.4.1 and V2.4.2 - Released July 14, 2004
2837 + The ARM7 port now supports THUMB mode.
2838 + Modification to the ARM7 demo application serial port driver.
2840 Changes between V2.4.0 and V2.4.1 - Released July 2, 2004
2842 + Rationalised the ARM7 port version of portEXIT_CRITICAL() -
2843 improvements provided by Bill Knight.
2844 + Made demo serial driver more complete and robust.
2847 Changes between V2.4.0 and V2.3.1 - Released June 30, 2004
2849 + Added the first ARM7 port - thanks to Bill Knight for the assistance
2851 + Added extra files to the Demo/Common/Minimal directory. These are
2852 equivalent to their Demo/Common/Full counterparts but with the
2853 calls to the functions defined in print.c removed.
2854 + Added TABLAT to the list of registers saved as part of a PIC18 context.
2856 Changes between V2.3.0 and V2.3.1 - Released June 25, 2004
2858 + Changed the way the vector table is defined to be more portable.
2859 + Corrected the definitions of SPH and SPL in portmacro.s90.
2860 The previous definitions prevented V2.3.0 operating if the iom323.h
2861 header file was included in portmacro.s90.
2863 Changes between V2.2.0 and V2.3.0 - Released June 19, 2004
2865 + Added an AVR port that uses the IAR compiler.
2866 + Explicit use of 'signed' qualifier on plain char types.
2867 + Modified the Open Watcom project files to use 'signed' as the
2869 + Changed odd calculation of initial pxTopOfStack value when
2870 portSTACK_GROWTH < 0.
2871 + Added inline qualifier to context switch functions within task.c.
2872 Ports that do not support the (non ANSI) inline keyword have the
2873 inline #define'd away in their respective portmacro.h files.
2875 Changes between V2.1.1 and V2.2.0 - Released May 18, 2004
2877 + Added Cygnal 8051 port.
2878 + PCLATU and PCLATH are now saved as part of the PIC18 context. This
2879 allows function pointers to be used within tasks. Thanks to Javier
2880 Espeche for the enhancement.
2881 + Minor changes to demo application files to reduce stack usage.
2882 + Minor changes to prevent compiler warnings when compiling the new port.
2884 Changes between V2.1.0 and V2.1.1 - Released March 12, 2004
2886 + Bug fix - pxCurrentTCB is now initialised before the call to
2887 prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed
2888 while null during the initialisation sequence. Thanks to Giuseppe
2889 Franco for the correction.
2891 Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004
2893 V2.1.0 has significant reworks that greatly reduce the amount of time
2894 the kernel has interrupts disabled. The first section of modifications
2895 listed here must be taken into account by users. The second section
2896 are related to the kernel implementation and as such are transparent.
2900 + The typedef TickType_t has been introduced. All delay times should
2901 now use a variable of type TickType_t in place of the unsigned long's
2902 used previously. API function prototypes have been updated
2904 + The configuration macro USE_16_BIT_TICKS has been introduced. If set
2905 to 1 TickType_t is defined as an unsigned short. If set to 0
2906 TickType_t is defined as an unsigned long. See the configuration
2907 section of the API documentation for more details.
2908 + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete.
2909 + vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a
2910 value (see the API documentation).
2911 + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type
2912 it returns now depends on the USE_16_BIT_TICKS definition.
2913 + cQueueReceive() must now >never< be used from within an ISR. Use the new
2914 cQueueReceiveFromISR() function instead.
2918 + A mechanism has been introduced that allows a queue to be accessed by
2919 a task and ISR simultaneously.
2920 + A "pending ready" queue has been introduced that enables interrupts to
2921 be processed when the scheduler is suspended.
2922 + The list implementation has been improved to provide faster item
2924 + The scheduler now makes use of the scheduler suspend mechanism in places
2925 where previously interrupts were disabled.
2927 Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004
2929 + Introduced new API functions:
2936 + Added conditional compilation options that allow the components of the
2937 kernel that are unused by an application to be excluded from the build.
2938 See the Configuration section on the WEB site for more information (on
2939 the API pages). The macros have been added to each portmacro.h file (
2940 sometimes called prtmacro.h).
2941 + Rearranged tasks.c.
2942 + Added demo application file dynamic.c.
2943 + Updated the PC demo application to make use of dynamic.c.
2944 + Updated the documentation contained in the kernel header files.
2945 + Creating a task now causes a context switch if the task being created
2946 has a higher priority than the calling task - assuming the kernel is
2948 + vTaskDelete() now only causes a context switch if the calling task is
2949 the task being deleted.
2951 Changes between V1.2.5 and V1.2.6 - Released December 31, 2003
2953 Barring the change to the interrupt vector (PIC port) these are minor
2956 + The interrupt vector used for the PIC master ISR has been changed from
2957 0x18 to 0x08 - where it should have always been. The incorrect address
2958 still works but probably executes a number of NOP's before getting to the
2960 + Changed the baud rate used by the AVR demo application to 38400. This
2961 has an error percentage of less than one percent with an 8MHz clock.
2962 + Raised the priority of the Rx task in demo\full\comtest.c. This only
2963 affects the Flashlite and PC ports. This was done to prevent the Rx
2964 buffer becoming full.
2965 + Reverted the Flashlite COM port driver back so it does not use the DMA.
2966 The DMA appears to miss characters under stress. The Borland Flashlite
2967 port was also calculating a register value incorrectly resulting in the
2968 wrong DMA source address being used. The same code worked fine when
2969 compiling with Open Watcom. Other minor enhancements were made to the
2971 + Modified the PIC serial Rx ISR to check for and clear overrun errors.
2972 Overrun errors seem to prevent any further characters being received.
2973 + The PIC demo projects now have some optimisation switched on.
2976 Changes between V1.2.4 and V1.2.5
2978 Small fix made to the PIC specific port.c file described below.
2980 + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global
2981 interrupt flag setting. Using the two bits defined within
2982 portINITAL_INTERRUPT_STATE was causing the w register to get clobbered
2983 before the test was performed.
2985 Changes between V1.2.3 and V1.2.4
2987 V1.2.4 contains a release version of the PIC18 port.
2988 An optional exception has been included with the GPL. See the licensing
2989 section of www.FreeRTOS.org for details.
2991 + The function xPortInitMinimal() has been renamed to
2992 xSerialPortInitMinimal() and the function xPortInit() has been renamed
2993 to xSerialPortInit().
2994 + The function sSerialPutChar() has been renamed cSerialPutChar() and
2995 the function return type chaned to portCHAR.
2996 + The integer and flop tasks now include calls to tskYIELD(), allowing
2997 them to be used with the cooperative scheduler.
2998 + All the demo applications now use the integer and comtest tasks when the
2999 cooperative scheduler is being used. Previously they were only used with
3000 the preemptive scheduler.
3001 + Minor changes made to operation of minimal versions of comtest.c and
3003 + The ATMega port definition of portCPU_CLOSK_HZ definition changed to
3004 8MHz base 10, previously it base 16.
3008 Changes between V1.2.2a and V1.2.3
3010 The only change of any significance is to the license, which has changed
3011 from the Open Software License to the GNU GPL.
3013 The zip file also contains a pre-release version of the PIC18 port. This
3014 has not yet completed testing and as such does not constitute part of the
3015 V1.2.3 release. It is still however covered by the GNU GPL.
3017 There are minor source code changes to accommodate the PIC C compiler.
3018 These mainly involve more explicit casting.
3020 + sTaskCreate() has been modified slightly to make use of the
3021 portSTACK_GROWTH macro. This is required for the PIC port where the
3022 stack grows in the opposite direction to the other existing ports.
3023 + prvCheckTasksWaitingTermination() has been modified slightly to bring
3024 the decrementing of usCurrentNumberOfTasks within the critical section,
3025 where it should have been since the creation of an eight bit port.
3027 Changes between V1.2.2 and V1.2.2a
3029 The makefile and buildcoff.bat files included with the AVR demo application
3030 have been modified for use with the September 2003 build of WinAVR. No
3031 source files have changed.
3033 Changes between V1.2.1 and V1.2.2
3035 There are only minor changes here to allow the PC and Flashlite 186 ports
3036 to use the Borland V4.52 compiler, as supplied with the Flashlite 186
3039 + Introduced a BCC directory under source\portable. This contains all the
3040 files specific to the Borland compiler port.
3041 + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS.
3042 + Modified comtest.c to increase the rate at which the string is
3043 transmitted and received on the serial port. The Flashlite 186 demo
3044 app baud rate has also been increased.
3045 + The values of the constants used in both integer.c files have been
3046 increased to force the Borland compiler to use 32 bit values. The
3047 Borland optimiser placed the previous values in 16 bit registers, and in
3048 So doing invalidated the test.
3050 Changes between V1.2.0 and V1.2.1
3052 This version includes some minor changes to the list implementation aimed
3053 at improving the context switch time - with is now approximately 10% faster.
3054 Changes include the removal of some null pointer assignment checks. These
3055 were redundant where the scheduler uses the list functions, but means any
3056 user application choosing to use the same list functions must now check
3057 that no NULL pointers are passed as a parameter.
3059 The Flashlite 186 serial port driver has also been modified to use a DMA
3060 channel for transmissions. The serial driver is fully functional but still
3061 under development. Flashlite users may prefer to use V1.2.0 for now.
3065 + Changed the baud rate for the ATMega323 serial test from 19200 to 57600.
3066 + Use vSerialPutString() instead of single character puts in
3067 Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial
3068 driver. Also the check variable only stops incrementing after two
3069 consecutive failures.
3070 + semtest.c creates four tasks, two of which operate at the idle priority.
3071 The tasks that operate at the idle priority now use a lower expected
3072 count than those running at a higher priority. This prevents the low
3073 priority tasks from signalling an error because they have not been
3074 scheduled enough time for each of them to count the shared variable to
3075 the higher original value.
3076 + The flashlite 186 serial driver now uses a DMA channel for transmissions.
3077 + Removed the volatile modifier from the list function parameters. This was
3078 only ever included to prevent compiler warnings. Now warnings are
3079 removed by casting parameters where the calls are made.
3080 + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been
3081 removed from list.c and added as macros in list.h.
3082 + usNumberOfItems has been added to the list structure. This removes the
3083 need for a pointer comparison when checking if a list is empty, and so
3085 + Removed the NULL check in vListRemove(). This makes the call faster but
3086 necessitates any application code utilising the list implementation to
3087 ensure NULL pointers are not passed.
3088 + Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds
3089 per tick). This is what it always should have been.
3091 Changes between V1.01 and V1.2.0
3093 The majority of these changes were made to accommodate the 8bit AVR port.
3094 The scheduler workings have not changed, but some of the data types used
3095 have been made more friendly to an eight bit environment.
3099 + Changed the version numbering format.
3101 + Split the directory demo\common into demo\common\minimal and
3102 demo\common\full. The files in the full directory are for systems with
3103 a display (currently PC and Flashlite 186 demo's). The files in the
3104 minimal directory are for systems with limited RAM and no display
3105 (currently MegaAVR).
3106 + Minor changes to demo application function prototypes to make more use
3108 + Within the scheduler itself the following functions have slightly
3109 modified declarations to make use of 8bit data types where possible:
3113 usQueueMessageWaiting(),
3114 sQueueSendFromISR(),
3117 sSemaphoreGiveFromISR(),
3119 sTaskMoveFromEventList().
3121 Where the return type has changed the function name has also changed in
3122 accordance with the naming convention. For example
3123 usQueueMessageWaiting() has become ucQueueMessageWaiting().
3124 + The definition tskMAX_PRIORITIES has been moved from task.h to
3125 portmacro.h and renamed portMAX_PRIORITIES. This allows different
3126 ports to allocate a different maximum number of priorities.
3127 + By default the trace facility is off, previously USE_TRACE_FACILITY
3129 + comtest.c now uses a psuedo random delay between sends. This allows for
3130 better testing as the interrupts do not arrive at regular intervals.
3131 + Minor change to the Flashlite serial port driver. The driver is written
3132 to demonstrate the scheduler and is not written to be efficient.
3136 Changes between V1.00 and V1.01
3138 These changes improve the ports. The scheduler itself has not changed.
3140 Improved context switch mechanism used when performing a context
3141 switch from an ISR (both the tick ISR and the serial comms ISR's within
3142 the demo application). The new mechanism is faster and uses less stack.
3144 The assembler file portasm.asm has been replaced by a header file
3145 portasm.h. This includes a few assembler macro definitions.
3147 All saving and restoring of registers onto/off of the stack is now handled
3148 by the compiler. This means the initial stack setup for a task has to
3149 mimic the stack used by the compiler, which is different for debug and
3152 Slightly changed the operation of the demo application, details below.
3156 + portSWITCH_CONTEXT() replaced by vPortFirstContext().
3157 + pxPortInitialiseStack() modified to replicate the stack used by the
3159 + portasm.asm file removed.
3160 + portasm.h introduced. This contains macro definitions for
3161 portSWITCH_CONTEXT() and portFIRST_CONTEXT().
3162 + Context switch from ISR now uses the compiler generated interrupt
3163 mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving
3164 the save/restore to compiler generated code.
3165 + Calls to taskYIELD() during ISR's have been replaced by calling the
3166 simpler and faster portSWITCH_CONTEXT().
3167 + The Flashlite 186 port now uses 186 instruction set (used to use 80x86
3169 + The blocking queue tasks within the demo application did not operate
3170 quite as described. This has been corrected.
3171 + The priority of the comtest Rx task within the demo application has been
3172 lowered. Received characters are now processed (read from the queue) at
3173 the idle priority, allowing low priority tasks to run evenly at times of
3174 a high communications overhead.
3175 + Prevent the call to kbhit() in main.c for debug builds as the debugger
3176 seems to have problems stepping over the call. This if for the PC port
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